Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 05:45:31 +03:00
Code Issues Wiki Activity

Changed gyro init and read functions to take a gyro_t* parameter.

Browse source 
Scaled gyro values to degrees per second in gyroUpdate.
This commit is contained in:
Martin Budden 2016-11-19 14:11:03 +00:00
parent 55b32740d9
commit 590e569375
28 changed files with 136 additions and 124 deletions
Download patch file Download diff file Expand all files Collapse all files

15
src/main/sensors/initialisation.c
View file

@ -102,15 +102,15 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
#ifdef USE_FAKE_GYRO
int16_t fake_gyro_values[XYZ_AXIS_COUNT] = { 0,0,0 };
static void fakeGyroInit(uint8_t lpf)
static void fakeGyroInit(gyro_t *gyro)
{
UNUSED(lpf);
UNUSED(gyro);
}
static bool fakeGyroRead(int16_t *gyroADC)
static bool fakeGyroRead(gyro_t *gyro)
{
for (int i = 0; i < XYZ_AXIS_COUNT; ++i) {
gyroADC[i] = fake_gyro_values[i];
gyro->gyroADCRaw[X] = fake_gyro_values[i];
}
return true;
@ -123,7 +123,9 @@ static bool fakeGyroReadTemp(int16_t *tempData)
}
static bool fakeGyroInitStatus(void) {
static bool fakeGyroInitStatus(gyro_t *gyro)
{
UNUSED(gyro);
return true;
}
@ -662,7 +664,8 @@ bool sensorsAutodetect(const sensorAlignmentConfig_t *sensorAlignmentConfig,
// Now time to init things
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom); // Set gyro sample rate before initialisation
gyro.init(gyroConfig->gyro_lpf); // driver initialisation
gyro.lpf = gyroConfig->gyro_lpf;
gyro.init(&gyro); // driver initialisation
gyroInit(gyroConfig); // sensor initialisation
if (detectAcc(sensorSelectionConfig->acc_hardware)) {