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Really fix gyro detection code code for multi gyro setups.

Browse source 
Broken in e44f75b4a7.

Problem caused by not checking both of the bits after masking.

Prior to this commit the code would incorrectly attempt to use GYRO1
when only GYRO2 was detected resulting in a segfault.
This commit is contained in:
Dominic Clifton 2019-04-17 15:29:57 +02:00
parent 55a5d70cc8
commit 67bd97b193
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/sensors/gyro.c
View file

@ -539,7 +539,7 @@ bool gyroInit(void)
}
#if defined(USE_MULTI_GYRO)
if ((gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && !(gyroDetectionFlags & DETECTED_BOTH_GYROS))
if ((gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && !((gyroDetectionFlags & DETECTED_BOTH_GYROS) == DETECTED_BOTH_GYROS))
|| (gyroToUse == GYRO_CONFIG_USE_GYRO_1 && !(gyroDetectionFlags & DETECTED_GYRO_1))
|| (gyroToUse == GYRO_CONFIG_USE_GYRO_2 && !(gyroDetectionFlags & DETECTED_GYRO_2))) {
if (gyroDetectionFlags & DETECTED_GYRO_1) {
@ -552,7 +552,7 @@ bool gyroInit(void)
}
// Only allow using both gyros simultaneously if they are the same hardware type.
if ((gyroDetectionFlags & DETECTED_BOTH_GYROS) && gyroSensor1.gyroDev.gyroHardware == gyroSensor2.gyroDev.gyroHardware) {
if (((gyroDetectionFlags & DETECTED_BOTH_GYROS) == DETECTED_BOTH_GYROS) && gyroSensor1.gyroDev.gyroHardware == gyroSensor2.gyroDev.gyroHardware) {
gyroDetectionFlags |= DETECTED_DUAL_GYROS;
} else if (gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
// If the user selected "BOTH" and they are not the same type, then reset to using only the first gyro.