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Fix small angle check when ACC is disabled or not defined

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Fixes related to #9185
This commit is contained in:
Bruce Luckcuck 2019-11-19 18:08:41 -05:00
parent 881a256980
commit f35dd086ac
2 changed files with 6 additions and 3 deletions
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6
src/main/flight/imu.c
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@ -724,5 +724,9 @@ void imuQuaternionHeadfreeTransformVectorEarthToBody(t_fp_vector_def *v)
bool isUpright(void) bool isUpright(void)
{ {
return attitudeIsEstablished && getCosTiltAngle() > smallAngleCosZ; #ifdef USE_ACC
return !sensors(SENSOR_ACC) || (attitudeIsEstablished && getCosTiltAngle() > smallAngleCosZ);
#else
return true;
#endif
} }

3
src/test/unit/flight_imu_unittest.cc
View file

@ -234,8 +234,7 @@ uint16_t disableFlightMode(flightModeFlags_e mask)
bool sensors(uint32_t mask) bool sensors(uint32_t mask)
{ {
UNUSED(mask); return mask & SENSOR_ACC;
return false;
}; };
uint32_t millis(void) { return 0; } uint32_t millis(void) { return 0; }