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Complete decoupling of imu code from config.

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The giant list of unrelated includes is now gone and the dependencies
are now clear.
This commit is contained in:
Dominic Clifton 2014-06-07 02:44:06 +01:00
parent deda79cb14
commit 0b9c326ffe
4 changed files with 6 additions and 46 deletions
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23
src/main/flight/imu.c
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@ -37,26 +37,9 @@
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "flight/mixer.h"
// FIXME remove dependency on config.h
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"
#include "flight/failsafe.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "flight/mixer.h"
#include "flight/imu.h"
int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
@ -117,7 +100,7 @@ void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *ini
accDeadband = initialAccDeadband;
}
void computeIMU(rollAndPitchTrims_t *accelerometerTrims)
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration)
{
uint32_t axis;
static int16_t gyroYawSmooth = 0;
@ -132,7 +115,7 @@ void computeIMU(rollAndPitchTrims_t *accelerometerTrims)
accADC[Z] = 0;
}
if (masterConfig.mixerConfiguration == MULTITYPE_TRI) {
if (mixerConfiguration == MULTITYPE_TRI) {
gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
gyroYawSmooth = gyroData[FD_YAW];
gyroData[FD_ROLL] = gyroADC[FD_ROLL];