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Added gyro, compass, acc, and baro config macros

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This commit is contained in:
Martin Budden 2016-11-30 21:38:14 +00:00
parent a9280d732a
commit 3ec46f1bd2
9 changed files with 96 additions and 90 deletions
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14
src/main/fc/config.c
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@ -843,7 +843,7 @@ void activateConfig(void)
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationTrims(&sensorTrims()->accZero);
setAccelerationFilter(masterConfig.accelerometerConfig.acc_lpf_hz);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
mixerUseConfigs(
&masterConfig.flight3DConfig,
@ -991,16 +991,16 @@ void validateAndFixConfig(void)
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
if (masterConfig.gyroConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyroConfig.gyro_soft_notch_hz_1) {
masterConfig.gyroConfig.gyro_soft_notch_hz_1 = 0;
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
gyroConfig()->gyro_soft_notch_hz_1 = 0;
}
if (masterConfig.gyroConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyroConfig.gyro_soft_notch_hz_2) {
masterConfig.gyroConfig.gyro_soft_notch_hz_2 = 0;
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
gyroConfig()->gyro_soft_notch_hz_2 = 0;
}
if (masterConfig.gyroConfig.gyro_lpf != GYRO_LPF_256HZ && masterConfig.gyroConfig.gyro_lpf != GYRO_LPF_NONE) {
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyroConfig.gyro_sync_denom = 1;
gyroConfig()->gyro_sync_denom = 1;
}
}