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Merge pull request #4866 from martinbudden/bfa_gyro_unittest

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Added gyro unit test
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Michael Keller 2017-12-30 12:01:38 +13:00 • committed by GitHub
commit 4ef45f008a
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4 changed files with 179 additions and 2 deletions
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7
src/main/sensors/gyro.c
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@ -117,7 +117,11 @@ typedef struct gyroSensor_s {
bool overflowDetected;
} gyroSensor_t;
static FAST_RAM gyroSensor_t gyroSensor1;
STATIC_UNIT_TESTED FAST_RAM gyroSensor_t gyroSensor1;
#ifdef UNIT_TEST
STATIC_UNIT_TESTED gyroSensor_t * const gyroSensorPtr = &gyroSensor1;
STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyroSensor1.gyroDev;
#endif
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
@ -424,6 +428,7 @@ bool gyroInit(void)
gyroDebugMode = DEBUG_NONE;
break;
}
firstArmingCalibrationWasStarted = false;
memset(&gyro, 0, sizeof(gyro));
return gyroInitSensor(&gyroSensor1);
}