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Moved further gyro parameters into gyroConfig_t

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This commit is contained in:
Martin Budden 2016-11-24 07:24:17 +00:00
parent 0f082201f4
commit 78e6130aab
10 changed files with 41 additions and 50 deletions
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11
src/main/sensors/initialisation.c
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@ -638,11 +638,10 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
bool sensorsAutodetect(const sensorAlignmentConfig_t *sensorAlignmentConfig,
sensorSelectionConfig_t *sensorSelectionConfig,
int16_t magDeclinationFromConfig,
uint8_t gyroLpf,
uint8_t gyroSyncDenominator,
const gyroConfig_t *gyroConfig,
const sonarConfig_t *sonarConfig)
{
memset(&acc, 0, sizeof(acc));
@ -662,9 +661,9 @@ bool sensorsAutodetect(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(gyroLpf, gyroSyncDenominator); // Set gyro sample rate before initialisation
gyro.init(gyroLpf); // driver initialisation
gyroInit(); // sensor initialisation
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom); // Set gyro sample rate before initialisation
gyro.init(gyroConfig->gyro_lpf); // driver initialisation
gyroInit(gyroConfig); // sensor initialisation
if (detectAcc(sensorSelectionConfig->acc_hardware)) {
acc.acc_1G = 256; // set default