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Improved initialisation order. Stopped calling pidInit before gyro detected (#4218)

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This commit is contained in:
Martin Budden 2017-09-25 05:15:45 +01:00 • committed by GitHub
parent ac1cc31ae5
commit db8698d801
3 changed files with 70 additions and 60 deletions
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53
src/main/fc/fc_init.c
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@ -376,32 +376,6 @@ void init(void)
serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(mixerConfig()->mixerMode);
#ifdef USE_SERVOS
servosInit();
#endif
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
mixerConfigureOutput();
motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
#ifdef USE_SERVOS
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
#endif
if (0) {}
#if defined(USE_PPM)
else if (feature(FEATURE_RX_PPM)) {
@ -414,8 +388,6 @@ void init(void)
}
#endif
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperInit(beeperDevConfig());
#endif
@ -528,10 +500,33 @@ void init(void)
LED0_OFF;
LED1_OFF;
// gyro.targetLooptime set in sensorsAutodetect(), so we are ready to call pidInit()
// gyro.targetLooptime set in sensorsAutodetect(),
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
validateAndFixGyroConfig();
pidInit(currentPidProfile);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
mixerInit(mixerConfig()->mixerMode);
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
mixerConfigureOutput();
motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef USE_SERVOS
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
#endif