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Moved accZero and magZero out of sensorTrims into acc and compass config

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This commit is contained in:
Martin Budden 2016-12-04 22:25:42 +00:00
parent 06e871406e
commit 229f6d14d4
7 changed files with 8 additions and 14 deletions
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3
src/main/config/config_master.h
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@ -66,7 +66,6 @@
#define servoConfig(x) (&masterConfig.servoConfig)
#define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
#define gimbalConfig(x) (&masterConfig.gimbalConfig)
#define sensorTrims(x) (&masterConfig.sensorTrims)
#define boardAlignment(x) (&masterConfig.boardAlignment)
#define imuConfig(x) (&masterConfig.imuConfig)
#define gyroConfig(x) (&masterConfig.gyroConfig)
@ -120,8 +119,6 @@ typedef struct master_s {
gimbalConfig_t gimbalConfig;
#endif
// global sensor-related stuff
sensorTrims_t sensorTrims;
boardAlignment_t boardAlignment;
imuConfig_t imuConfig;

4
src/main/fc/config.c
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@ -580,7 +580,7 @@ void createDefaultConfig(master_t *config)
config->debug_mode = DEBUG_MODE;
resetAccelerometerTrims(&config->sensorTrims.accZero);
resetAccelerometerTrims(&config->accelerometerConfig.accZero);
config->gyroConfig.gyro_align = ALIGN_DEFAULT;
config->accelerometerConfig.acc_align = ALIGN_DEFAULT;
@ -837,7 +837,7 @@ void activateConfig(void)
#endif
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationTrims(&sensorTrims()->accZero);
setAccelerationTrims(&accelerometerConfig()->accZero);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
mixerUseConfigs(

2
src/main/fc/fc_tasks.c
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@ -158,7 +158,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
static void taskUpdateCompass(timeUs_t currentTimeUs)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTimeUs, &sensorTrims()->magZero);
compassUpdate(currentTimeUs, &compassConfig()->magZero);
}
}
#endif

6
src/main/io/serial_cli.c
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@ -945,9 +945,9 @@ const clivalue_t valueTable[] = {
#endif
#ifdef MAG
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &sensorTrims()->magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &sensorTrims()->magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &sensorTrims()->magZero.raw[Z], .config.minmax = { -32768, 32767 } },
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &compassConfig()->magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &compassConfig()->magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &compassConfig()->magZero.raw[Z], .config.minmax = { -32768, 32767 } },
#endif
#ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &ledStripConfig()->ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },

1
src/main/sensors/acceleration.h
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@ -58,6 +58,7 @@ typedef struct accelerometerConfig_s {
uint16_t acc_lpf_hz; // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
sensor_align_e acc_align; // acc alignment
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
flightDynamicsTrims_t accZero;
} accelerometerConfig_t;
void accInit(uint32_t gyroTargetLooptime);

1
src/main/sensors/compass.h
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@ -44,6 +44,7 @@ typedef struct compassConfig_s {
// For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
sensor_align_e mag_align; // mag alignment
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
flightDynamicsTrims_t magZero;
} compassConfig_t;
void compassInit(void);

5
src/main/sensors/sensors.h
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@ -51,8 +51,3 @@ typedef enum {
SENSOR_GPS = 1 << 5,
SENSOR_GPSMAG = 1 << 6
} sensors_e;
typedef struct sensorTrims_s {
flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero;
} sensorTrims_t;