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Moved sensor global data into sensor_s structs

This commit is contained in:
Martin Budden 2016-11-19 14:11:03 +00:00
parent fd5710051e
commit b8b9c95f57
69 changed files with 359 additions and 343 deletions

View file

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