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Remove sensor_initialisation.c's dependency on mw.h/board.h.

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Extracted sensor alignment variables to sensorAlignmentConfig

This commit marks the end of the sensor dependency cleanup.
This commit is contained in:
Dominic Clifton 2014-04-23 00:35:39 +01:00
parent e963496263
commit 9d56b4a00f
6 changed files with 80 additions and 38 deletions
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4
src/main.c
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@ -55,7 +55,7 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void buzzerInit(failsafe_t *initialFailsafe);
void gpsInit(uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void sensorsAutodetect(void);
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
void imuInit(void);
void loop(void);
@ -160,7 +160,7 @@ int main(void)
LED1_OFF;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile.mag_declination);
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage