Changes missed from last commit.

src/main/config/config_master.h

@@ -1,83 +1,84 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-// System-wide
-typedef struct master_t {
-    uint8_t version;
-    uint16_t size;
-    uint8_t magic_be;                       // magic number, should be 0xBE
-
-    uint8_t mixerConfiguration;
-    uint32_t enabledFeatures;
-    uint16_t looptime;                      // imu loop time in us
-    uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
-
-    motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
-
-    // motor/esc/servo related stuff
-    escAndServoConfig_t escAndServoConfig;
-    flight3DConfig_t flight3DConfig;
-
-    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
-    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
-
-    // global sensor-related stuff
-
-    sensorAlignmentConfig_t sensorAlignmentConfig;
-    boardAlignment_t boardAlignment;
-
-    int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
-    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
-    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
-
-    gyroConfig_t gyroConfig;
-
-    uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
-    flightDynamicsTrims_t accZero;
-    flightDynamicsTrims_t magZero;
-
-    batteryConfig_t batteryConfig;
-
-    rxConfig_t rxConfig;
-    inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
-
-    uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
-
-    airplaneConfig_t airplaneConfig;
-    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
-
-#ifdef GPS
-    gpsConfig_t gpsConfig;
-#endif
-
-    serialConfig_t serialConfig;
-
-    telemetryConfig_t telemetryConfig;
-
-    profile_t profile[3];                   // 3 separate profiles
-    uint8_t current_profile_index;          // currently loaded profile
-
-    uint8_t magic_ef;                       // magic number, should be 0xEF
-    uint8_t chk;                            // XOR checksum
-} master_t;
-
-extern master_t masterConfig;
-extern profile_t currentProfile;
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// System-wide
+typedef struct master_t {
+    uint8_t version;
+    uint16_t size;
+    uint8_t magic_be;                       // magic number, should be 0xBE
+
+    uint8_t mixerConfiguration;
+    uint32_t enabledFeatures;
+    uint16_t looptime;                      // imu loop time in us
+    uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
+
+    motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
+
+    // motor/esc/servo related stuff
+    escAndServoConfig_t escAndServoConfig;
+    flight3DConfig_t flight3DConfig;
+
+    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
+    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
+
+    // global sensor-related stuff
+
+    sensorAlignmentConfig_t sensorAlignmentConfig;
+    boardAlignment_t boardAlignment;
+
+    int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
+    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
+    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
+
+    gyroConfig_t gyroConfig;
+
+    uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
+    flightDynamicsTrims_t accZero;
+    flightDynamicsTrims_t magZero;
+
+    batteryConfig_t batteryConfig;
+
+    rxConfig_t rxConfig;
+    inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
+
+    uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
+    uint8_t small_angle;
+
+    airplaneConfig_t airplaneConfig;
+    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
+
+#ifdef GPS
+    gpsConfig_t gpsConfig;
+#endif
+
+    serialConfig_t serialConfig;
+
+    telemetryConfig_t telemetryConfig;
+
+    profile_t profile[3];                   // 3 separate profiles
+    uint8_t current_profile_index;          // currently loaded profile
+
+    uint8_t magic_ef;                       // magic number, should be 0xEF
+    uint8_t chk;                            // XOR checksum
+} master_t;
+
+extern master_t masterConfig;
+extern profile_t currentProfile;

src/main/flight/imu.c

@@ -78,6 +78,11 @@ float anglerad[2] = { 0.0f, 0.0f };    // absolute angle inclination in radians
 
 static void getEstimatedAttitude(void);
 
+imuRuntimeConfig_t *imuRuntimeConfig;
+pidProfile_t *pidProfile;
+barometerConfig_t *barometerConfig;
+accDeadband_t *accDeadband;
+
 void imuInit()
 {
     smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle));
@@ -90,11 +95,6 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
     throttleAngleScale = (1800.0f / M_PI) * (900.0f / throttle_correction_angle);
 }
 
-imuRuntimeConfig_t *imuRuntimeConfig;
-pidProfile_t *pidProfile;
-barometerConfig_t *barometerConfig;
-accDeadband_t *accDeadband;
-
 void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband)
 {
     imuRuntimeConfig = initialImuRuntimeConfig;