Acc fn/variable renames to align with iNav

src/main/blackbox/blackbox.c

@@ -289,7 +289,7 @@ typedef struct blackboxMainState_s {
 
     int16_t rcCommand[4];
     int16_t gyroADC[XYZ_AXIS_COUNT];
-    int16_t accSmooth[XYZ_AXIS_COUNT];
+    int16_t accADC[XYZ_AXIS_COUNT];
     int16_t debug[DEBUG16_VALUE_COUNT];
     int16_t motor[MAX_SUPPORTED_MOTORS];
     int16_t servo[MAX_SUPPORTED_SERVOS];
@@ -580,7 +580,7 @@ static void writeIntraframe(void)
 
     blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
-        blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
+        blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
     }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
@@ -713,7 +713,7 @@ static void writeInterframe(void)
     //Since gyros, accs and motors are noisy, base their predictions on the average of the history:
     blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC),   XYZ_AXIS_COUNT);
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
-        blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
+        blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
     }
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
         blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
@@ -994,7 +994,7 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->axisPID_I[i] = axisPID_I[i];
         blackboxCurrent->axisPID_D[i] = axisPID_D[i];
         blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
-        blackboxCurrent->accSmooth[i] = acc.accSmooth[i];
+        blackboxCurrent->accADC[i] = acc.accADC[i];
 #ifdef USE_MAG
         blackboxCurrent->magADC[i] = mag.magADC[i];
 #endif

src/main/fc/fc_core.c

@@ -134,7 +134,7 @@ static bool isCalibrating(void)
 
     // Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
 
-    return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
+    return (!accIsCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
 }
 
 void resetArmingDisabled(void)

src/main/flight/imu.c

@@ -200,9 +200,9 @@ static void imuCalculateAcceleration(uint32_t deltaT)
     const float dT = (float)deltaT * 1e-6f;
 
     t_fp_vector accel_ned;
-    accel_ned.V.X = acc.accSmooth[X];
+    accel_ned.V.X = acc.accADC[X];
-    accel_ned.V.Y = acc.accSmooth[Y];
+    accel_ned.V.Y = acc.accADC[Y];
-    accel_ned.V.Z = acc.accSmooth[Z];
+    accel_ned.V.Z = acc.accADC[Z];
 
     imuTransformVectorBodyToEarth(&accel_ned);
 
@@ -392,7 +392,7 @@ static bool imuIsAccelerometerHealthy(void)
 {
     float accMagnitude = 0;
     for (int axis = 0; axis < 3; axis++) {
-        const float a = acc.accSmooth[axis];
+        const float a = acc.accADC[axis];
         accMagnitude += a * a;
     }
 
@@ -478,9 +478,9 @@ void imuUpdateAttitude(timeUs_t currentTimeUs)
         imuCalculateEstimatedAttitude(currentTimeUs);
         IMU_UNLOCK;
     } else {
-        acc.accSmooth[X] = 0;
+        acc.accADC[X] = 0;
-        acc.accSmooth[Y] = 0;
+        acc.accADC[Y] = 0;
-        acc.accSmooth[Z] = 0;
+        acc.accADC[Z] = 0;
     }
 }
 

src/main/interface/msp.c

@@ -779,7 +779,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
             }
 
             for (int i = 0; i < 3; i++) {
-                sbufWriteU16(dst, acc.accSmooth[i] / scale);
+                sbufWriteU16(dst, acc.accADC[i] / scale);
             }
             for (int i = 0; i < 3; i++) {
                 sbufWriteU16(dst, gyroRateDps(i));

src/main/io/dashboard.c

@@ -476,7 +476,7 @@ static void showSensorsPage(void)
     i2c_OLED_send_string(bus, "        X     Y     Z");
 
     if (sensors(SENSOR_ACC)) {
-        tfp_sprintf(lineBuffer, format, "ACC", acc.accSmooth[X], acc.accSmooth[Y], acc.accSmooth[Z]);
+        tfp_sprintf(lineBuffer, format, "ACC", acc.accADC[X], acc.accADC[Y], acc.accADC[Z]);
         padLineBuffer();
         i2c_OLED_set_line(bus, rowIndex++);
         i2c_OLED_send_string(bus, lineBuffer);

src/main/sensors/acceleration.c

@@ -231,11 +231,10 @@ retry:
     case ACC_ICM20608G:
 #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
 #ifdef USE_ACC_SPI_MPU6500
-        if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
+        if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
 #else
-        if (mpu6500AccDetect(dev))
+        if (mpu6500AccDetect(dev)) {
 #endif
-        {
 #ifdef ACC_MPU6500_ALIGN
             dev->accAlign = ACC_MPU6500_ALIGN;
 #endif
@@ -371,7 +370,7 @@ void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
     calibratingA = calibrationCyclesRequired;
 }
 
-bool isAccelerationCalibrationComplete(void)
+bool accIsCalibrationComplete(void)
 {
     return calibratingA == 0;
 }
@@ -393,14 +392,15 @@ static void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims
     for (int axis = 0; axis < 3; axis++) {
 
         // Reset a[axis] at start of calibration
-        if (isOnFirstAccelerationCalibrationCycle())
+        if (isOnFirstAccelerationCalibrationCycle()) {
             a[axis] = 0;
+        }
 
         // Sum up CALIBRATING_ACC_CYCLES readings
-        a[axis] += acc.accSmooth[axis];
+        a[axis] += acc.accADC[axis];
 
         // Reset global variables to prevent other code from using un-calibrated data
-        acc.accSmooth[axis] = 0;
+        acc.accADC[axis] = 0;
         accelerationTrims->raw[axis] = 0;
     }
 
@@ -420,7 +420,6 @@ static void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims
 
 static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
 {
-    uint8_t axis;
     static int32_t b[3];
     static int16_t accZero_saved[3] = { 0, 0, 0 };
     static rollAndPitchTrims_t angleTrim_saved = { { 0, 0 } };
@@ -434,14 +433,14 @@ static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndP
         angleTrim_saved.values.pitch = rollAndPitchTrims->values.pitch;
     }
     if (InflightcalibratingA > 0) {
-        for (axis = 0; axis < 3; axis++) {
+        for (int axis = 0; axis < 3; axis++) {
             // Reset a[axis] at start of calibration
             if (InflightcalibratingA == 50)
                 b[axis] = 0;
             // Sum up 50 readings
-            b[axis] += acc.accSmooth[axis];
+            b[axis] += acc.accADC[axis];
             // Clear global variables for next reading
-            acc.accSmooth[axis] = 0;
+            acc.accADC[axis] = 0;
             accelerationTrims->raw[axis] = 0;
         }
         // all values are measured
@@ -473,9 +472,9 @@ static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndP
 
 static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
 {
-    acc.accSmooth[X] -= accelerationTrims->raw[X];
+    acc.accADC[X] -= accelerationTrims->raw[X];
-    acc.accSmooth[Y] -= accelerationTrims->raw[Y];
+    acc.accADC[Y] -= accelerationTrims->raw[Y];
-    acc.accSmooth[Z] -= accelerationTrims->raw[Z];
+    acc.accADC[Z] -= accelerationTrims->raw[Z];
 }
 
 void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
@@ -489,18 +488,18 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         DEBUG_SET(DEBUG_ACCELEROMETER, axis, acc.dev.ADCRaw[axis]);
-        acc.accSmooth[axis] = acc.dev.ADCRaw[axis];
+        acc.accADC[axis] = acc.dev.ADCRaw[axis];
     }
 
     if (accLpfCutHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            acc.accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)acc.accSmooth[axis]));
+            acc.accADC[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)acc.accADC[axis]));
         }
     }
 
-    alignSensors(acc.accSmooth, acc.dev.accAlign);
+    alignSensors(acc.accADC, acc.dev.accAlign);
 
-    if (!isAccelerationCalibrationComplete()) {
+    if (!accIsCalibrationComplete()) {
         performAcclerationCalibration(rollAndPitchTrims);
     }
 
@@ -512,7 +511,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
 
     ++accumulatedMeasurementCount;
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        accumulatedMeasurements[axis] += acc.accSmooth[axis];
+        accumulatedMeasurements[axis] += acc.accADC[axis];
     }
 }
 

src/main/sensors/acceleration.h

@@ -46,7 +46,7 @@ typedef enum {
 typedef struct acc_s {
     accDev_t dev;
     uint32_t accSamplingInterval;
-    int32_t accSmooth[XYZ_AXIS_COUNT];
+    int32_t accADC[XYZ_AXIS_COUNT];
     bool isAccelUpdatedAtLeastOnce;
 } acc_t;
 
@@ -75,7 +75,7 @@ typedef struct accelerometerConfig_s {
 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
 
 bool accInit(uint32_t gyroTargetLooptime);
-bool isAccelerationCalibrationComplete(void);
+bool accIsCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims);

src/main/telemetry/frsky_hub.c

@@ -173,7 +173,7 @@ static void frSkyHubWriteByteInternal(const char data)
 static void sendAccel(void)
 {
     for (unsigned i = 0; i < 3; i++) {
-        frSkyHubWriteFrame(ID_ACC_X + i, ((float)acc.accSmooth[i] / acc.dev.acc_1G) * 1000);
+        frSkyHubWriteFrame(ID_ACC_X + i, ((float)acc.accADC[i] / acc.dev.acc_1G) * 1000);
     }
 }
 

src/main/telemetry/smartport.c

@@ -418,15 +418,15 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
                 *clearToSend = false;
                 break;
             case FSSP_DATAID_ACCX       :
-                smartPortSendPackage(id, 100 * acc.accSmooth[X] / acc.dev.acc_1G); // Multiply by 100 to show as x.xx g on Taranis
+                smartPortSendPackage(id, 100 * acc.accADC[X] / acc.dev.acc_1G); // Multiply by 100 to show as x.xx g on Taranis
                 *clearToSend = false;
                 break;
             case FSSP_DATAID_ACCY       :
-                smartPortSendPackage(id, 100 * acc.accSmooth[Y] / acc.dev.acc_1G);
+                smartPortSendPackage(id, 100 * acc.accADC[Y] / acc.dev.acc_1G);
                 *clearToSend = false;
                 break;
             case FSSP_DATAID_ACCZ       :
-                smartPortSendPackage(id, 100 * acc.accSmooth[Z] / acc.dev.acc_1G);
+                smartPortSendPackage(id, 100 * acc.accADC[Z] / acc.dev.acc_1G);
                 *clearToSend = false;
                 break;
             case FSSP_DATAID_T1         :

src/test/unit/arming_prevention_unittest.cc

@@ -623,7 +623,7 @@ extern "C" {
     void systemBeep(bool) {}
     void saveConfigAndNotify(void) {}
     void blackboxFinish(void) {}
-    bool isAccelerationCalibrationComplete(void) { return true; }
+    bool accIsCalibrationComplete(void) { return true; }
     bool isBaroCalibrationComplete(void) { return true; }
     bool isGyroCalibrationComplete(void) { return gyroCalibDone; }
     void gyroStartCalibration(bool) {}