Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Fixed gyro detection for multi gyro setups.

Browse source
This commit is contained in:
mikeller 2019-04-03 00:41:06 +13:00
parent dcb34d3761
commit e44f75b4a7
7 changed files with 111 additions and 92 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/msp/msp.c
View file

@ -1357,13 +1357,12 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, compassConfig()->mag_align);
// API 1.41 - Add multi-gyro indicator, selected gyro, and support for separate gyro 1 & 2 alignment
sbufWriteU8(dst, getGyroDetectionFlags());
#ifdef USE_MULTI_GYRO
sbufWriteU8(dst, 1); // USE_MULTI_GYRO
sbufWriteU8(dst, gyroConfig()->gyro_to_use);
sbufWriteU8(dst, gyroDeviceConfig(0)->align);
sbufWriteU8(dst, gyroDeviceConfig(1)->align);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, GYRO_CONFIG_USE_GYRO_1);
sbufWriteU8(dst, gyroDeviceConfig(0)->align);
sbufWriteU8(dst, ALIGN_DEFAULT);