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Merge pull request #8033 from hydra/bf-really-fix-gyro-detection-in-multi-gyro-setups

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Really fix gyro detection code code for multi gyro setups.
This commit is contained in:
Michael Keller 2019-04-19 14:00:02 +12:00 • committed by mikeller
parent e15523bfe5
commit c21d7fb05d
1 changed files with 2 additions and 2 deletions
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4
src/main/sensors/gyro.c
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@ -538,7 +538,7 @@ bool gyroInit(void)
}
#if defined(USE_MULTI_GYRO)
if ((gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && !(gyroDetectionFlags & DETECTED_BOTH_GYROS))
if ((gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && !((gyroDetectionFlags & DETECTED_BOTH_GYROS) == DETECTED_BOTH_GYROS))
|| (gyroToUse == GYRO_CONFIG_USE_GYRO_1 && !(gyroDetectionFlags & DETECTED_GYRO_1))
|| (gyroToUse == GYRO_CONFIG_USE_GYRO_2 && !(gyroDetectionFlags & DETECTED_GYRO_2))) {
if (gyroDetectionFlags & DETECTED_GYRO_1) {
@ -551,7 +551,7 @@ bool gyroInit(void)
}
// Only allow using both gyros simultaneously if they are the same hardware type.
if ((gyroDetectionFlags & DETECTED_BOTH_GYROS) && gyroSensor1.gyroDev.gyroHardware == gyroSensor2.gyroDev.gyroHardware) {
if (((gyroDetectionFlags & DETECTED_BOTH_GYROS) == DETECTED_BOTH_GYROS) && gyroSensor1.gyroDev.gyroHardware == gyroSensor2.gyroDev.gyroHardware) {
gyroDetectionFlags |= DETECTED_DUAL_GYROS;
} else if (gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
// If the user selected "BOTH" and they are not the same type, then reset to using only the first gyro.