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Moved sensor global data into sensor_s structs
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parent
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69 changed files with 359 additions and 343 deletions
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@ -607,15 +607,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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case MSP_RAW_IMU:
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{
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// Hack scale due to choice of units for sensor data in multiwii
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const uint8_t scale = (acc.acc_1G > 512) ? 4 : 1;
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const uint8_t scale = (acc.dev.acc_1G > 512) ? 4 : 1;
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for (int i = 0; i < 3; i++) {
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sbufWriteU16(dst, accSmooth[i] / scale);
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sbufWriteU16(dst, acc.accSmooth[i] / scale);
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}
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for (int i = 0; i < 3; i++) {
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sbufWriteU16(dst, lrintf(gyroADCf[i] / gyro.scale));
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sbufWriteU16(dst, lrintf(gyro.gyroADCf[i] / gyro.dev.scale));
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}
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for (int i = 0; i < 3; i++) {
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sbufWriteU16(dst, magADC[i]);
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sbufWriteU16(dst, mag.magADC[i]);
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}
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}
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break;
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