Avoid passing a uint8_t to a gyro method that is only used during gyro

calibration.
Conflicts:

	src/config.c
	src/flight_imu.c
	src/mw.h
	src/sensors.c
	src/serial_cli.c

src/config.c

@@ -7,11 +7,14 @@
 #include "common/axis.h"
 #include "flight_common.h"
 
-#include "sensors_common.h"
+
 
 #include "drivers/accgyro_common.h"
 #include "drivers/system_common.h"
 
+#include "sensors_common.h"
+#include "sensors_gyro.h"
+
 #include "statusindicator.h"
 #include "sensors_acceleration.h"
 #include "sensors_barometer.h"
@@ -20,7 +23,6 @@
 
 #include "drivers/serial_common.h"
 #include "flight_mixer.h"
-#include "sensors_common.h"
 #include "boardalignment.h"
 #include "battery.h"
 #include "gimbal.h"
@@ -87,6 +89,7 @@ void activateConfig(void)
     generatePitchCurve(&currentProfile.controlRateConfig);
     generateThrottleCurve(&currentProfile.controlRateConfig, masterConfig.minthrottle, masterConfig.maxthrottle);
 
+	useGyroConfig(&masterConfig.gyroConfig);
     setPIDController(currentProfile.pidController);
     gpsUseProfile(&currentProfile.gpsProfile);
     gpsUsePIDs(&currentProfile.pidProfile);
@@ -273,7 +276,7 @@ static void resetConf(void)
     masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
     masterConfig.max_angle_inclination = 500;    // 50 degrees
     masterConfig.yaw_control_direction = 1;
-    masterConfig.moron_threshold = 32;
+    masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
     masterConfig.batteryConfig.vbatscale = 110;
     masterConfig.batteryConfig.vbatmaxcellvoltage = 43;
     masterConfig.batteryConfig.vbatmincellvoltage = 33;

src/config_master.h

@@ -34,7 +34,9 @@ typedef struct master_t {
     uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
     uint16_t gyro_cmpfm_factor;             // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
-    uint8_t moron_threshold;                // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
+
+    gyroConfig_t gyroConfig;
+
     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
     int16_flightDynamicsTrims_t accZero;
     int16_flightDynamicsTrims_t magZero;

src/flight_imu.c

@@ -87,7 +87,7 @@ void computeIMU(void)
     uint32_t axis;
     static int16_t gyroYawSmooth = 0;
 
-    gyroGetADC(masterConfig.moron_threshold);
+    gyroGetADC();
     if (sensors(SENSOR_ACC)) {
         updateAccelerationReadings(&currentProfile.accelerometerTrims);
         getEstimatedAttitude();

src/mw.h

@@ -20,6 +20,7 @@ enum {
 };
 
 #include "sensors_barometer.h"
+#include "sensors_gyro.h"
 #include "serial_common.h"
 #include "rc_controls.h"
 #include "rx_common.h"

src/sensors_gyro.c

@@ -16,9 +16,17 @@
 
 uint16_t calibratingG = 0;
 uint16_t acc_1G = 256;          // this is the 1G measured acceleration.
+
+static gyroConfig_t *gyroConfig;
+
 gyro_t gyro;                      // gyro access functions
 sensor_align_e gyroAlign = 0;
 
+void useGyroConfig(gyroConfig_t *gyroConfigToUse)
+{
+    gyroConfig = gyroConfigToUse;
+}
+
 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
 {
     calibratingG = calibrationCyclesRequired;
@@ -83,14 +91,14 @@ static void applyGyroZero(void)
     }
 }
 
-void gyroGetADC(uint8_t gyroMovementCalibrationThreshold)
+void gyroGetADC(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
     gyro.read(gyroADC);
     alignSensors(gyroADC, gyroADC, gyroAlign);
 
     if (!isGyroCalibrationComplete()) {
-        performAcclerationCalibration(gyroMovementCalibrationThreshold);
+        performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
     }
 
     applyGyroZero();

src/sensors_gyro.h

@@ -4,6 +4,11 @@ extern uint16_t acc_1G;
 extern gyro_t gyro;
 extern sensor_align_e gyroAlign;
 
-void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+typedef struct gyroConfig_s {
-void gyroGetADC(uint8_t gyroMovementCalibrationThreshold);
+    uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
+} gyroConfig_t;
+
+void useGyroConfig(gyroConfig_t *gyroConfigToUse);
+void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+void gyroGetADC(void);
 

src/serial_cli.c

@@ -163,7 +163,7 @@ const clivalue_t valueTable[] = {
     { "yaw_control_direction", VAR_INT8, &masterConfig.yaw_control_direction, -1, 1 },
     { "acc_hardware", VAR_UINT8, &masterConfig.acc_hardware, 0, 5 },
     { "max_angle_inclination", VAR_UINT16, &masterConfig.max_angle_inclination, 100, 900 },
-    { "moron_threshold", VAR_UINT8, &masterConfig.moron_threshold, 0, 128 },
+    { "moron_threshold", VAR_UINT8, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, 0, 128 },
     { "gyro_lpf", VAR_UINT16, &masterConfig.gyro_lpf, 0, 256 },
     { "gyro_cmpf_factor", VAR_UINT16, &masterConfig.gyro_cmpf_factor, 100, 1000 },
     { "gyro_cmpfm_factor", VAR_UINT16, &masterConfig.gyro_cmpfm_factor, 100, 1000 },