From 51eee3d62c9adbff0a469e2731b32f7340b60d09 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Fri, 6 Jun 2014 20:59:59 +0100
Subject: [PATCH] Decoupling imu from config - barometer config.

---
 src/main/config/config.c |  2 +-
 src/main/flight/imu.c    |  8 +++++---
 src/main/flight/imu.h    |  2 +-
 src/main/mw.c            | 14 +++++++-------
 4 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index e840aa6fdb..b0b6aa89a6 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -389,7 +389,7 @@ void activateConfig(void)
     imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
     imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
 
-    configureImu(&imuRuntimeConfig, &currentProfile.pidProfile);
+    configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig);
 
     calculateThrottleAngleScale(currentProfile.throttle_correction_angle);
 
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 703d6016bb..13592d9005 100755
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -106,11 +106,13 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
 
 imuRuntimeConfig_t *imuRuntimeConfig;
 pidProfile_t *pidProfile;
+barometerConfig_t *barometerConfig;
 
-void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile)
+void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig)
 {
     imuRuntimeConfig = initialImuRuntimeConfig;
     pidProfile = initialPidProfile;
+    barometerConfig = intialBarometerConfig;
 }
 
 void computeIMU(rollAndPitchTrims_t *accelerometerTrims)
@@ -455,7 +457,7 @@ int getEstimatedAltitude(void)
 
     // Integrator - Altitude in cm
     accAlt += (vel_acc * 0.5f) * dt + vel * dt;                                         // integrate velocity to get distance (x= a/2 * t^2)
-    accAlt = accAlt * currentProfile.barometerConfig.baro_cf_alt + (float)BaroAlt * (1.0f - currentProfile.barometerConfig.baro_cf_alt);      // complementary filter for Altitude estimation (baro & acc)
+    accAlt = accAlt * barometerConfig->baro_cf_alt + (float)BaroAlt * (1.0f - barometerConfig->baro_cf_alt);      // complementary filter for Altitude estimation (baro & acc)
     EstAlt = accAlt;
     vel += vel_acc;
 
@@ -475,7 +477,7 @@ int getEstimatedAltitude(void)
 
     // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
     // By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
-    vel = vel * currentProfile.barometerConfig.baro_cf_vel + baroVel * (1 - currentProfile.barometerConfig.baro_cf_vel);
+    vel = vel * barometerConfig->baro_cf_vel + baroVel * (1 - barometerConfig->baro_cf_vel);
     vel_tmp = lrintf(vel);
 
     // set vario
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index 4222a322d4..c52dd48400 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -27,7 +27,7 @@ typedef struct imuRuntimeConfig_s {
     float gyro_cmpfm_factor;
 } imuRuntimeConfig_t;
 
-void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile);
+void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig);
 
 int getEstimatedAltitude(void);
 void computeIMU(rollAndPitchTrims_t *accelerometerTrims);
diff --git a/src/main/mw.c b/src/main/mw.c
index b2473e892d..40da1277d5 100755
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -32,23 +32,23 @@
 #include "drivers/system.h"
 #include "drivers/serial.h"
 
+#include "flight/flight.h"
+#include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
+#include "sensors/sonar.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/gyro.h"
 #include "sensors/battery.h"
 #include "io/buzzer.h"
 #include "io/escservo.h"
-#include "flight/flight.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/autotune.h"
 #include "flight/mixer.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
-#include "sensors/sensors.h"
-#include "sensors/sonar.h"
-#include "sensors/compass.h"
-#include "sensors/acceleration.h"
-#include "sensors/barometer.h"
-#include "sensors/gyro.h"
 #include "io/serial_cli.h"
 #include "io/serial.h"
 #include "io/statusindicator.h"