Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

Moved xx_hardware out of sensorSelectionConfig into config for specific sensor

Browse source
This commit is contained in:
Martin Budden 2016-12-04 22:15:41 +00:00
parent 60e2227396
commit 06e871406e
12 changed files with 31 additions and 42 deletions
Download patch file Download diff file Expand all files Collapse all files

18
src/main/sensors/initialisation.c
View file

@ -623,10 +623,10 @@ static bool detectSonar(void)
}
#endif
bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
const gyroConfig_t *gyroConfig,
const accelerometerConfig_t *accConfig,
bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
const accelerometerConfig_t *accelerometerConfig,
const compassConfig_t *compassConfig,
const barometerConfig_t *barometerConfig,
const sonarConfig_t *sonarConfig)
{
memset(&acc, 0, sizeof(acc));
@ -651,7 +651,7 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
gyro.dev.init(&gyro.dev); // driver initialisation
gyroInit(gyroConfig); // sensor initialisation
if (detectAcc(sensorSelectionConfig->acc_hardware)) {
if (detectAcc(accelerometerConfig->acc_hardware)) {
acc.dev.acc_1G = 256; // set default
acc.dev.init(&acc.dev); // driver initialisation
accInit(gyro.targetLooptime); // sensor initialisation
@ -661,7 +661,7 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
#ifdef MAG
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (detectMag(sensorSelectionConfig->mag_hardware)) {
if (detectMag(compassConfig->mag_hardware)) {
// calculate magnetic declination
const int16_t deg = compassConfig->mag_declination / 100;
const int16_t min = compassConfig->mag_declination % 100;
@ -673,7 +673,9 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
#endif
#ifdef BARO
detectBaro(sensorSelectionConfig->baro_hardware);
detectBaro(barometerConfig->baro_hardware);
#else
UNUSED(barometerConfig);
#endif
#ifdef SONAR
@ -687,8 +689,8 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
if (gyroConfig->gyro_align != ALIGN_DEFAULT) {
gyro.dev.gyroAlign = gyroConfig->gyro_align;
}
if (accConfig->acc_align != ALIGN_DEFAULT) {
acc.dev.accAlign = accConfig->acc_align;
if (accelerometerConfig->acc_align != ALIGN_DEFAULT) {
acc.dev.accAlign = accelerometerConfig->acc_align;
}
if (compassConfig->mag_align != ALIGN_DEFAULT) {
mag.dev.magAlign = compassConfig->mag_align;