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Allow resorting to fake gyro if USE_FAKE_GYRO is defined (#8579)

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Allow resorting to fake gyro if USE_FAKE_GYRO is defined
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Michael Keller 2019-07-22 02:29:57 +12:00 • committed by GitHub
commit 0f230c42a1
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1 changed files with 13 additions and 1 deletions
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14
src/main/sensors/gyro.c
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@ -416,9 +416,15 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20)
if (!mpuDetect(&gyroSensor->gyroDev, config)) {
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
#if !defined(USE_FAKE_GYRO) // Allow resorting to fake accgyro if defined
if (!gyroFound) {
return false;
}
#else
UNUSED(gyroFound);
#endif
#else
UNUSED(config);
#endif
@ -828,6 +834,12 @@ static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{
#if defined(USE_FAKE_GYRO) && !defined(UNIT_TEST)
if (gyroSensor->gyroDev.gyroHardware == GYRO_FAKE) {
gyroSensor->calibration.cyclesRemaining = 0;
return;
}
#endif
gyroSensor->calibration.cyclesRemaining = gyroCalculateCalibratingCycles();
}