From a0841cf000c07b8bbf7a83fb3f74e0a2e417519d Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Thu, 25 Apr 2019 18:27:30 -0700
Subject: [PATCH] change initialization order

---
 main/ugv_main.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/main/ugv_main.cc b/main/ugv_main.cc
index 031f956..b69bb9a 100644
--- a/main/ugv_main.cc
+++ b/main/ugv_main.cc
@@ -111,9 +111,9 @@ struct State {
     ahrs_.begin(1000000.f /
                 static_cast<float>(LOOP_PERIOD_US));  // rough sample frequency
 
+    io->Init();
     comms->Init();
     display->Init();
-    io->Init();
 
     esp_timer_create_args_t timer_args;
     timer_args.callback        = OnTimeout;
@@ -135,7 +135,7 @@ struct State {
                 &m = inputs.mpu.mag;
       ahrs_.update(g.x, g.y, g.z, a.x, a.y, a.z, m.x, m.y, m.z);
     }
-    if (time_us >= last_print + 50 * 1000) {  // 1s
+    if (time_us >= last_print + 500 * 1000) {  // 1s
       ESP_LOGD(TAG,
                "inputs: acc=(%f, %f, %f) gyro=(%f, %f, %f) mag=(%f, %f, %f)",
                inputs.mpu.accel.x, inputs.mpu.accel.y, inputs.mpu.accel.z,