From c21d7fb05d479ebaad1e502ac5102b84d29abdf1 Mon Sep 17 00:00:00 2001 From: Michael Keller Date: Fri, 19 Apr 2019 14:00:02 +1200 Subject: [PATCH] Merge pull request #8033 from hydra/bf-really-fix-gyro-detection-in-multi-gyro-setups Really fix gyro detection code code for multi gyro setups. --- src/main/sensors/gyro.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index b20b8bbc04..3cbec23e96 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -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.