From bb670f277d1e9ffb6295fec7e2d89e3e625605e9 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Sat, 21 Mar 2015 17:44:02 -0700
Subject: [PATCH] AP_InertialSensor: accel cal sample for 400ms instead of 1s

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 53caa471d3..96dff74a43 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -518,7 +518,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
         }
 
         uint32_t num_samples = 0;
-        while (num_samples < 1000/update_dt_milliseconds) {
+        while (num_samples < 400/update_dt_milliseconds) {
             wait_for_sample();
             // read samples from ins
             update();