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Merge pull request #7529 from jflyper/bfdev-stronger-USE_ACC

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[REFACTOR] More application of USE_ACC
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Michael Keller 2019-02-06 10:08:49 +13:00 • committed by GitHub
commit 7393d5fdac
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10 changed files with 48 additions and 21 deletions
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4
src/main/fc/init.c
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@ -538,7 +538,9 @@ void init(void)
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
validateAndFixGyroConfig();
pidInit(currentPidProfile);
#ifdef USE_ACC
accInitFilters();
#endif
#ifdef USE_PID_AUDIO
pidAudioInit();
@ -702,9 +704,11 @@ void init(void)
blackboxInit();
#endif
#ifdef USE_ACC
if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
#endif
gyroStartCalibration(false);
#ifdef USE_BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);