Move calibrationCompleted flag to a 4th element in the accZero structure

Allows the flag indicating that calibration was completed to be output in the values for `acc_calibration`.

src/main/cli/settings.c

@@ -663,7 +663,9 @@ const clivalue_t valueTable[] = {
     { "acc_lpf_hz",                 VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_lpf_hz) },
     { "acc_trim_pitch",             VAR_INT16  | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) },
     { "acc_trim_roll",              VAR_INT16  | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) },
-    { "acc_calibration",            VAR_INT16  | MASTER_VALUE | MODE_ARRAY, .config.array.length = XYZ_AXIS_COUNT, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accZero.raw) },
+
+    // 4 elements are output for the ACC calibration - The 3 axis values and the 4th representing whether calibration has been performed
+    { "acc_calibration",            VAR_INT16  | MASTER_VALUE | MODE_ARRAY, .config.array.length = 4, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accZero.raw) },
 #endif
 
 // PG_COMPASS_CONFIG

src/main/fc/core.c

@@ -220,7 +220,7 @@ static bool accNeedsCalibration(void)
     if (sensors(SENSOR_ACC)) {
 
         // Check to see if the ACC has already been calibrated
-        if (accelerometerConfig()->calibrationCompleted ||
+        if (accelerometerConfig()->accZero.values.calibrationCompleted ||
             accelerometerConfig()->accZero.values.roll != 0 ||
             accelerometerConfig()->accZero.values.pitch != 0 ||
             accelerometerConfig()->accZero.values.yaw != 0) {

src/main/sensors/acceleration.c

@@ -98,7 +98,7 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
 
 static void setConfigCalibrationCompleted(void)
 {
-    accelerometerConfigMutable()->calibrationCompleted = true;
+    accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
 }
 
 void accResetRollAndPitchTrims(void)
@@ -111,6 +111,7 @@ static void resetFlightDynamicsTrims(flightDynamicsTrims_t *accZero)
     accZero->values.roll = 0;
     accZero->values.pitch = 0;
     accZero->values.yaw = 0;
+    accZero->values.calibrationCompleted = 0;
 }
 
 void accResetFlightDynamicsTrims(void)
@@ -124,13 +125,12 @@ void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
         .acc_lpf_hz = 10,
         .acc_hardware = ACC_DEFAULT,
         .acc_high_fsr = false,
-        .calibrationCompleted = false,
     );
     resetRollAndPitchTrims(&instance->accelerometerTrims);
     resetFlightDynamicsTrims(&instance->accZero);
 }
 
-PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 2);
 
 extern uint16_t InflightcalibratingA;
 extern bool AccInflightCalibrationMeasurementDone;

src/main/sensors/acceleration.h

@@ -72,7 +72,6 @@ typedef struct accelerometerConfig_s {
     bool acc_high_fsr;
     flightDynamicsTrims_t accZero;
     rollAndPitchTrims_t accelerometerTrims;
-    bool calibrationCompleted;              // has ACC calibration been performed (should not be exposed in settings)
 } accelerometerConfig_t;
 
 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);

src/main/sensors/compass.c

@@ -58,7 +58,7 @@
 magDev_t magDev;
 mag_t mag;                   // mag access functions
 
-PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 1);
+PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 2);
 
 void pgResetFn_compassConfig(compassConfig_t *compassConfig)
 {

src/main/sensors/sensors.h

@@ -36,10 +36,11 @@ typedef struct int16_flightDynamicsTrims_s {
     int16_t roll;
     int16_t pitch;
     int16_t yaw;
+    int16_t calibrationCompleted;
 } flightDynamicsTrims_def_t;
 
 typedef union flightDynamicsTrims_u {
-    int16_t raw[3];
+    int16_t raw[4];
     flightDynamicsTrims_def_t values;
 } flightDynamicsTrims_t;