From 2bbbf9937d50e229b512b83f0b669b65c6aee2e1 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Sat, 7 Jun 2014 02:27:07 +0100
Subject: [PATCH] Decoupling imu from config - acc_unarmedcal.

---
 src/main/config/config.c | 2 ++
 src/main/flight/imu.c    | 2 +-
 src/main/flight/imu.h    | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 90999347e3..b103ed5bab 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -388,6 +388,8 @@ void activateConfig(void)
     imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
     imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
     imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
+    imuRuntimeConfig.acc_unarmedcal = currentProfile.acc_unarmedcal;;
+
 
     configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);
 
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index d7acd2593c..159b5f07c1 100755
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -245,7 +245,7 @@ void acc_calc(uint32_t deltaT)
 
     rotateV(&accel_ned.V, &rpy);
 
-    if (currentProfile.acc_unarmedcal == 1) {
+    if (imuRuntimeConfig->acc_unarmedcal == 1) {
         if (!f.ARMED) {
             accZoffset -= accZoffset / 64;
             accZoffset += accel_ned.V.Z;
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index acd7905dfc..72c1d9acb9 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -23,6 +23,7 @@ extern int16_t throttleAngleCorrection;
 
 typedef struct imuRuntimeConfig_s {
     uint8_t acc_lpf_factor;
+    uint8_t acc_unarmedcal;
     float gyro_cmpf_factor;
     float gyro_cmpfm_factor;
 } imuRuntimeConfig_t;