Moved accelerometerTrims into accelerometerConfig()

src/main/config/config_master.h

@@ -128,8 +128,6 @@ typedef struct master_s {
 
     imuConfig_t imuConfig;
 
-    rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
-
     pidConfig_t pidConfig;
 
     uint8_t debug_mode;                     // Processing denominator for PID controller vs gyro sampling rate

src/main/fc/config.c

@@ -746,7 +746,7 @@ void createDefaultConfig(master_t *config)
 
     resetProfile(&config->profile[0]);
 
-    resetRollAndPitchTrims(&config->accelerometerTrims);
+    resetRollAndPitchTrims(&config->accelerometerConfig.accelerometerTrims);
 
     config->compassConfig.mag_declination = 0;
     config->accelerometerConfig.acc_lpf_hz = 10.0f;

src/main/fc/fc_msp.c

@@ -908,8 +908,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
 
     // Additional commands that are not compatible with MultiWii
     case MSP_ACC_TRIM:
-        sbufWriteU16(dst, masterConfig.accelerometerTrims.values.pitch);
+        sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.pitch);
-        sbufWriteU16(dst, masterConfig.accelerometerTrims.values.roll);
+        sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.roll);
         break;
 
     case MSP_UID:
@@ -1289,8 +1289,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
 #endif
         break;
     case MSP_SET_ACC_TRIM:
-        masterConfig.accelerometerTrims.values.pitch = sbufReadU16(src);
+        accelerometerConfig()->accelerometerTrims.values.pitch = sbufReadU16(src);
-        masterConfig.accelerometerTrims.values.roll  = sbufReadU16(src);
+        accelerometerConfig()->accelerometerTrims.values.roll  = sbufReadU16(src);
         break;
     case MSP_SET_ARMING_CONFIG:
         armingConfig()->auto_disarm_delay = sbufReadU8(src);

src/main/fc/fc_tasks.c

@@ -91,7 +91,7 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
 {
     UNUSED(currentTimeUs);
 
-    imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
+    accUpdate(&accelerometerConfig()->accelerometerTrims);
 }
 
 static void taskHandleSerial(timeUs_t currentTimeUs)

src/main/fc/mw.c

@@ -103,8 +103,8 @@ float rcInput[3];
 
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
 {
-    masterConfig.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
+    accelerometerConfig()->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
-    masterConfig.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
+    accelerometerConfig()->accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
 
     saveConfigAndNotify();
 }
@@ -679,7 +679,7 @@ void subTaskPidController(void)
     pidController(
         &currentProfile->pidProfile,
         pidConfig()->max_angle_inclination,
-        &masterConfig.accelerometerTrims,
+        &accelerometerConfig()->accelerometerTrims,
         rxConfig()->midrc
     );
     if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}

src/main/flight/imu.c

@@ -65,7 +65,6 @@ float fc_acc;
 float smallAngleCosZ = 0;
 
 float magneticDeclination = 0.0f;       // calculated at startup from config
-static bool isAccelUpdatedAtLeastOnce = false;
 
 static imuRuntimeConfig_t imuRuntimeConfig;
 static pidProfile_t *pidProfile;
@@ -406,17 +405,9 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
     imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
 }
 
-void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
-{
-    if (sensors(SENSOR_ACC)) {
-        updateAccelerationReadings(accelerometerTrims);
-        isAccelUpdatedAtLeastOnce = true;
-    }
-}
-
 void imuUpdateAttitude(timeUs_t currentTimeUs)
 {
-    if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
+    if (sensors(SENSOR_ACC) && acc.isAccelUpdatedAtLeastOnce) {
         imuCalculateEstimatedAttitude(currentTimeUs);
     } else {
         acc.accSmooth[X] = 0;

src/main/flight/imu.h

@@ -98,8 +98,6 @@ void imuConfigure(
 
 float getCosTiltAngle(void);
 void calculateEstimatedAltitude(timeUs_t currentTimeUs);
-union rollAndPitchTrims_u;
-void imuUpdateAccelerometer(union rollAndPitchTrims_u *accelerometerTrims);
 void imuUpdateAttitude(timeUs_t currentTimeUs);
 float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
@@ -109,5 +107,4 @@ union u_fp_vector;
 int16_t imuCalculateHeading(union u_fp_vector *vec);
 
 void imuResetAccelerationSum(void);
-void imuUpdateAcc(union rollAndPitchTrims_u *accelerometerTrims);
 void imuInit(void);

src/main/io/serial_cli.c

@@ -883,8 +883,8 @@ const clivalue_t valueTable[] = {
     { "accxy_deadband",             VAR_UINT8  | MASTER_VALUE, &imuConfig()->accDeadband.xy, .config.minmax = { 0,  100 } },
     { "accz_deadband",              VAR_UINT8  | MASTER_VALUE, &imuConfig()->accDeadband.z, .config.minmax = { 0,  100 } },
     { "acc_unarmedcal",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &imuConfig()->acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
-    { "acc_trim_pitch",             VAR_INT16  | MASTER_VALUE, &masterConfig.accelerometerTrims.values.pitch, .config.minmax = { -300,  300 } },
+    { "acc_trim_pitch",             VAR_INT16  | MASTER_VALUE, &accelerometerConfig()->accelerometerTrims.values.pitch, .config.minmax = { -300,  300 } },
-    { "acc_trim_roll",              VAR_INT16  | MASTER_VALUE, &masterConfig.accelerometerTrims.values.roll, .config.minmax = { -300,  300 } },
+    { "acc_trim_roll",              VAR_INT16  | MASTER_VALUE, &accelerometerConfig()->accelerometerTrims.values.roll, .config.minmax = { -300,  300 } },
 
 #ifdef BARO
     { "baro_tab_size",              VAR_UINT8  | MASTER_VALUE, &barometerConfig()->baro_sample_count, .config.minmax = { 0,  BARO_SAMPLE_COUNT_MAX } },

src/main/sensors/acceleration.c

@@ -377,11 +377,12 @@ static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrim
     acc.accSmooth[Z] -= accelerationTrims->raw[Z];
 }
 
-void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
+void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims)
 {
     if (!acc.dev.read(&acc.dev)) {
         return;
     }
+    acc.isAccelUpdatedAtLeastOnce = true;
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         DEBUG_SET(DEBUG_ACCELEROMETER, axis, acc.dev.ADCRaw[axis]);

src/main/sensors/acceleration.h

@@ -39,6 +39,7 @@ typedef struct acc_s {
     accDev_t dev;
     uint32_t accSamplingInterval;
     int32_t accSmooth[XYZ_AXIS_COUNT];
+    bool isAccelUpdatedAtLeastOnce;
 } acc_t;
 
 extern acc_t acc;
@@ -59,13 +60,14 @@ typedef struct accelerometerConfig_s {
     sensor_align_e acc_align;               // acc alignment
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     flightDynamicsTrims_t accZero;
+    rollAndPitchTrims_t accelerometerTrims;
 } accelerometerConfig_t;
 
 bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroTargetLooptime);
 bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
-void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
+void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims);
 union flightDynamicsTrims_u;
 void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
 void setAccelerationFilter(uint16_t initialAccLpfCutHz);

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -837,8 +837,8 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
 
         // Additional commands that are not compatible with MultiWii
         case BST_ACC_TRIM:
-            bstWrite16(masterConfig.accelerometerTrims.values.pitch);
+            bstWrite16(accelerometerConfig()->accelerometerTrims.values.pitch);
-            bstWrite16(masterConfig.accelerometerTrims.values.roll);
+            bstWrite16(accelerometerConfig()->accelerometerTrims.values.roll);
             break;
 
         case BST_UID:
@@ -1033,8 +1033,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
                 }
             }
         case BST_SET_ACC_TRIM:
-            masterConfig.accelerometerTrims.values.pitch = bstRead16();
+            accelerometerConfig()->accelerometerTrims.values.pitch = bstRead16();
-            masterConfig.accelerometerTrims.values.roll  = bstRead16();
+            accelerometerConfig()->accelerometerTrims.values.roll  = bstRead16();
             break;
         case BST_SET_ARMING_CONFIG:
             armingConfig()->auto_disarm_delay = bstRead8();