calibration.
When the model is moved during the gyro calibration period too much the
code that detects the movement (gyroMovementCalibrationThreshold aka
'moron threshold') did not restart the calibration correctly and one too
few calibration cycles were used when restarting.
In addition to this there was unnecessary calibration reset code - the
reset of calibration variables is supposed to happen at the start of
calibration; due to the bug the first calibration cycle could not be
detected when restarting so the old reset code was required.
This commit also cleans up the Gyro code so the it is in a similar style
to the recently cleaned acceleration code.
separate concerns and help reduce and clarify dependencies.
cfg and mcfg are too similarly named and are not obvious. Renamed cfg
to currentProfile and mcfg to masterConfig. This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
This resulted in the removal of duplicate logic, duplicate code and the
removal of a temporary buffer per-driver.
The NAZE specific sensor alignment is now contained within the core code
instead of in the drivers.
The sensor alignment is determines by the sensor initialisation code.
The alignment of sensor readings is now performed once and only by the
appropriate sensor code, see usages of alignSensors().
The acc/gyro/compass driver code is now more reusable since it has no
dependencies on the main code.
each. relocated acc_t/gyro_t from sensors_common.h into
drivers/accgyro_common.h since they define an interface and the
dependency was pointing the wrong way from the drivers.
baro_t/acc_t/gyro_t dependences are all now pointing the right way.
of determining a revision code. Previously there was mpu6050 specific
code in cli.c (the status command).
Finally this commit has removed all non-serial port configuration
settings from core_t so that a future commit can refactor core_t to
reduce dependencies on serial port code.
In doing this I also noted from other source code that the MPU6050
accelerometer trim for some revisions appeared to be incorrectly set to
255 * 8 instead of 256 * 8.
code into rx_common.c. Moved some GPS code into gps_common.c. Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h. Moved sound & light code into
statusindicator.c
clear what all gpio/ledring drivers need to compile and what was
unnecessarily included before.
In attempting this it was clear that ledring had a dependency on the
multiwii code, this was removed by passing the led status update method
the values it needs.
It also turned out that the ROLL/PITCH defines were coming from
rc_alias_e and much unrelated code is coupled to these defines. This
commit also includes some cleanups relating to that problem.
