Resetting APM/IMU before flight

Since I build my arducopter, most of the time after I connected the battery the quad can't fly immediatly. 

The symptoms are all props spinning when giving throttle, no reaction when doing pre flight tilt, only two props turn, ...

I just have to reset the APM/IMU and I can fly.

At firts I thought it was something to do with the code but after installing different once the problem stayed.

Are any of you guys having problems.

It's not a big deal but you never know if there is a solution.

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