mirror of
https://github.com/betaflight/betaflight.git
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83 lines
2 KiB
C
Executable file
83 lines
2 KiB
C
Executable file
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "common/utils.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "fc/config.h"
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#include "fc/runtime_config.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/sonar.h"
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#include "sensors/initialisation.h"
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uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
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#ifdef SONAR
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static bool sonarDetect(void)
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{
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if (feature(FEATURE_SONAR)) {
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// the user has set the sonar feature, so assume they have an HC-SR04 plugged in,
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// since there is no way to detect it
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sensorsSet(SENSOR_SONAR);
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return true;
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}
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return false;
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}
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#endif
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bool sensorsAutodetect(void)
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{
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// gyro must be initialised before accelerometer
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bool gyroDetected = gyroInit();
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if (gyroDetected) {
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accInit(gyro.targetLooptime);
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}
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#ifdef MAG
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compassInit();
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#endif
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#ifdef BARO
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baroDetect(&baro.dev, barometerConfig()->baro_hardware);
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#endif
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#ifdef SONAR
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if (sonarDetect()) {
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sonarInit(sonarConfig());
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}
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#endif
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return gyroDetected;
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}
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