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Merge remote-tracking branch 'betaflight/master' into bfdev-configurable-spi-phase-1

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This commit is contained in:
jflyper 2017-07-02 11:06:50 +09:00
commit d18a06f721
67 changed files with 928 additions and 774 deletions
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14
src/main/fc/fc_init.c
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@ -315,7 +315,7 @@ void init(void)
}
#endif
#if defined(USE_SPEKTRUM_BIND) && !defined(SITL)
#if defined(USE_SPEKTRUM_BIND)
if (feature(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
@ -338,7 +338,7 @@ void init(void)
busSwitchInit();
#endif
#if defined(USE_UART) && !defined(SITL)
#if defined(USE_UART)
uartPinConfigure(serialPinConfig());
#endif
@ -384,12 +384,12 @@ void init(void)
if (0) {}
#if defined(USE_PPM)
else if (feature(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
ppmRxInit(ppmConfig());
}
#endif
#if defined(USE_PWM)
else if (feature(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
pwmRxInit(pwmConfig());
}
#endif
@ -480,8 +480,9 @@ void init(void)
initBoardAlignment(boardAlignment());
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
// if gyro was not detected due to whatever reason, notify and don't arm.
failureLedCode(FAILURE_MISSING_ACC, 2);
setArmingDisabled(ARMING_DISABLED_NO_GYRO);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
@ -665,7 +666,6 @@ void init(void)
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly