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Code Issues Wiki Activity

Applied 'USE_ACC' consistently.

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This commit is contained in:
mikeller 2019-02-06 17:08:51 +13:00
parent 59ea4becb3
commit b5908f5bab
29 changed files with 250 additions and 155 deletions
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27
src/main/msp/msp.c
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@ -857,22 +857,27 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
case MSP_RAW_IMU:
{
#if defined(USE_ACC)
// Hack scale due to choice of units for sensor data in multiwii
uint8_t scale;
if (acc.dev.acc_1G > 512*4) {
if (acc.dev.acc_1G > 512 * 4) {
scale = 8;
} else if (acc.dev.acc_1G > 512*2) {
} else if (acc.dev.acc_1G > 512 * 2) {
scale = 4;
} else if (acc.dev.acc_1G >= 512) {
scale = 2;
} else {
scale = 1;
}
#endif
for (int i = 0; i < 3; i++) {
#if defined(USE_ACC)
sbufWriteU16(dst, lrintf(acc.accADC[i] / scale));
#else
sbufWriteU16(dst, 0);
#endif
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroRateDps(i));
@ -1125,11 +1130,13 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#endif
#endif
#if defined(USE_ACC)
case MSP_ACC_TRIM:
sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.pitch);
sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.roll);
break;
break;
#endif
case MSP_MIXER_CONFIG:
sbufWriteU8(dst, mixerConfig()->mixerMode);
sbufWriteU8(dst, mixerConfig()->yaw_motors_reversed);
@ -1435,7 +1442,11 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_SENSOR_CONFIG:
#if defined(USE_ACC)
sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, barometerConfig()->baro_hardware);
sbufWriteU8(dst, compassConfig()->mag_hardware);
break;
@ -1674,10 +1685,13 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
}
#endif
break;
#if defined(USE_ACC)
case MSP_SET_ACC_TRIM:
accelerometerConfigMutable()->accelerometerTrims.values.pitch = sbufReadU16(src);
accelerometerConfigMutable()->accelerometerTrims.values.roll = sbufReadU16(src);
break;
#endif
case MSP_SET_ARMING_CONFIG:
armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
sbufReadU8(src); // reserved
@ -2063,9 +2077,14 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_SENSOR_CONFIG:
#if defined(USE_ACC)
accelerometerConfigMutable()->acc_hardware = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
barometerConfigMutable()->baro_hardware = sbufReadU8(src);
compassConfigMutable()->mag_hardware = sbufReadU8(src);
break;
case MSP_RESET_CONF: