Set acc alignment to that of active gyro

src/main/cli/settings.c

@@ -578,7 +578,6 @@ const lookupTableEntry_t lookupTables[] = {
 
 const clivalue_t valueTable[] = {
 // PG_GYRO_CONFIG
-    { "align_gyro",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_align) },
     { "gyro_hardware_lpf",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },
 #if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
     { "gyro_32khz_hardware_lpf",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_32KHZ_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_32khz_hardware_lpf) },
@@ -631,7 +630,6 @@ const clivalue_t valueTable[] = {
     { "gyro_filter_debug_axis",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_FILTER_DEBUG }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_debug_axis) },
 
 // PG_ACCELEROMETER_CONFIG
-    { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },
     { "acc_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ACC_HARDWARE }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_hardware) },
 #if defined(USE_GYRO_SPI_ICM20649)
     { "acc_high_range",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_high_fsr) },

src/main/sensors/acceleration.c

@@ -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;
+    // Copy alignment from active gyro, as all production boards use acc-gyro-combi chip.
-#ifdef ACC_2_ALIGN
+    // 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;
 }
 

src/main/sensors/gyro.c

@@ -453,9 +453,6 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c
     gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf;
     gyroSensor->gyroDev.hardware_32khz_lpf = gyroConfig()->gyro_32khz_hardware_lpf;
     gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev);
-    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyroSensor->gyroDev.gyroAlign = gyroConfig()->gyro_align;
-    }
 
     // As new gyros are supported, be sure to add them below based on whether they are subject to the overflow/inversion bug
     // Any gyro not explicitly defined will default to not having built-in overflow protection as a safe alternative.

src/main/target/common_defaults_post.h

@@ -273,7 +273,6 @@
 #define GYRO_2_CS_PIN           NONE
 #define GYRO_2_ALIGN            ALIGN_DEFAULT
 #define GYRO_2_EXTI_PIN         NONE
-#define ACC_2_ALIGN             ALIGN_DEFAULT
 #endif
 
 #if !defined(GYRO_1_SPI_INSTANCE)
@@ -292,10 +291,6 @@
 #define GYRO_1_ALIGN            ALIGN_DEFAULT
 #endif
 
-#if !defined(ACC_1_ALIGN)
-#define ACC_1_ALIGN             ALIGN_DEFAULT
-#endif
-
 #if defined(MPU_ADDRESS)
 #define GYRO_I2C_ADDRESS MPU_ADDRESS
 #else
@@ -304,8 +299,10 @@
 
 #ifdef USE_MULTI_GYRO
 #define MAX_GYRODEV_COUNT 2
+#define MAX_ACCDEV_COUNT 2
 #else
 #define MAX_GYRODEV_COUNT 1
+#define MAX_ACCDEV_COUNT 1
 #endif
 
 #ifdef USE_VCP