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Merge branch 'master' into betaflight

Browse source 
Conflicts:
	src/main/blackbox/blackbox_io.c
	src/main/drivers/serial_usb_vcp.c
	src/main/flight/imu.c
	src/main/mw.c
	src/main/target/CC3D/target.h
This commit is contained in:
borisbstyle 2015-10-12 23:53:43 +02:00
commit 4b3ba927e9
50 changed files with 544 additions and 250 deletions
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19
src/main/mw.c
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@ -27,6 +27,7 @@
#include "common/axis.h"
#include "common/color.h"
#include "common/filter.h"
#include "common/utils.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
@ -242,14 +243,14 @@ void annexCode(void)
}
if (feature(FEATURE_VBAT)) {
if ((int32_t)(currentTime - vbatLastServiced) >= VBATINTERVAL) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
if (feature(FEATURE_CURRENT_METER)) {
int32_t ibatTimeSinceLastServiced = (int32_t) (currentTime - ibatLastServiced);
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
@ -465,16 +466,14 @@ void executePeriodicTasks(void)
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
if (false
#if defined(BARO)
|| (sensors(SENSOR_BARO) && isBaroReady())
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#if defined(SONAR)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
}
break;