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Merge pull request #602 from martinbudden/bf_gyro_tidy

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gyro sync and initialisation cleanup
This commit is contained in:
J Blackman 2016-06-28 08:18:38 +10:00 • committed by GitHub
commit 9843d7ce2f
24 changed files with 87 additions and 115 deletions
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7
src/main/main.c
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@ -49,7 +49,6 @@
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gyro_sync.h"
#include "drivers/sdcard.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
@ -625,7 +624,7 @@ void init(void)
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(calculateCalibratingCycles());
gyroSetCalibrationCycles();
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
@ -693,12 +692,12 @@ void main_init(void)
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, targetLooptime);
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) { // Switch statement kept in place to change acc rates in the future
switch(gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case(500):
case(375):
case(250):