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Code Issues Wiki Activity

Set acc alignment to that of active gyro

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This commit is contained in:
jflyper 2019-01-25 23:40:47 +09:00
parent fc289e95b7
commit 5b40bb4b24
4 changed files with 9 additions and 16 deletions
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13
src/main/sensors/acceleration.c
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@ -35,6 +35,7 @@
#include "config/feature.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/gyrodev.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_fake.h"
@ -314,10 +315,13 @@ bool accInit(uint32_t gyroSamplingInverval)
acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
acc.dev.acc_high_fsr = accelerometerConfig()->acc_high_fsr;
acc.dev.accAlign = ACC_1_ALIGN;
#ifdef ACC_2_ALIGN
// Copy alignment from active gyro, as all production boards use acc-gyro-combi chip.
// Exceptions are STM32F3DISCOVERY and STM32F411DISCOVERY, and (may be) handled in future enhancement.
acc.dev.accAlign = gyroDeviceConfig(0)->align;
#ifdef USE_MULTI_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) {
acc.dev.accAlign = ACC_2_ALIGN;
acc.dev.accAlign = gyroDeviceConfig(1)->align;
}
#endif
@ -348,9 +352,6 @@ bool accInit(uint32_t gyroSamplingInverval)
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, acc.accSamplingInterval);
}
}
if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
acc.dev.accAlign = accelerometerConfig()->acc_align;
}
return true;
}