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Code Issues Wiki Activity

Moved sonar pinouts into target.h files. (#224)

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Martin Budden 2016-05-18 14:46:23 +01:00 • committed by Konstantin Sharlaimov
parent f6b37c3924
commit 4c3c8a1b48
11 changed files with 130 additions and 85 deletions
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19
src/main/sensors/initialisation.c
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@ -731,7 +731,7 @@ retry:
sensorsSet(SENSOR_MAG);
}
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
static void reconfigureAlignment(const sensorAlignmentConfig_t *sensorAlignmentConfig)
{
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
gyroAlign = sensorAlignmentConfig->gyro_align;
@ -747,17 +747,12 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
int16_t magDeclinationFromConfig) {
int16_t deg, min;
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
UNUSED(mpuDetectionResult);
const extiConfig_t *mpuExtiConfig = selectMPUIntExtiConfig();
detectMpu(mpuExtiConfig);
#endif
if (!detectGyro()) {
@ -768,8 +763,9 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t g
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
if (sensors(SENSOR_ACC)) {
acc.init(&acc);
}
gyro.init(gyroLpf);
@ -780,9 +776,8 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t g
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (sensors(SENSOR_MAG)) {
// calculate magnetic declination
deg = magDeclinationFromConfig / 100;
min = magDeclinationFromConfig % 100;
const int deg = magDeclinationFromConfig / 100;
const int min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
} else {
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.