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Merge pull request #1093 from iNavFlight/sonar-rework

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Sonar - refactor the code to use detection and configuration like all other sensors
This commit is contained in:
Konstantin Sharlaimov 2017-01-30 19:32:50 +10:00 • committed by GitHub
commit 688f90e2a2
16 changed files with 251 additions and 302 deletions
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14
src/main/fc/cli.c
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@ -102,6 +102,7 @@ extern uint8_t __config_end;
#include "sensors/diagnostics.h"
#include "sensors/gyro.h"
#include "sensors/pitotmeter.h"
#include "sensors/rangefinder.h"
#include "sensors/sensors.h"
#include "telemetry/frsky.h"
@ -147,7 +148,7 @@ static const char * const mixerNames[] = {
static const char * const featureNames[] = {
"RX_PPM", "VBAT", "UNUSED_1", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"UNUSED_3", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "UNUSED_2",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"SUPEREXPO", "VTX", "RX_SPI", "SOFTSPI", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", "OSD", NULL
@ -521,6 +522,11 @@ static const clivalue_t valueTable[] = {
{ "accgain_y", VAR_INT16 | MASTER_VALUE, .config.minmax = { 1, 8192 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accGain.raw[Y]) },
{ "accgain_z", VAR_INT16 | MASTER_VALUE, .config.minmax = { 1, 8192 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accGain.raw[Z]) },
// PG_RANGEFINDER_CONFIG
#ifdef SONAR
{ "rangefinder_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RANGEFINDER_HARDWARE }, PG_RANGEFINDER_CONFIG, offsetof(rangefinderConfig_t, rangefinder_hardware) },
#endif
// PG_COMPASS_CONFIG
#ifdef MAG
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_align) },
@ -2773,12 +2779,6 @@ static void cliFeature(char *cmdline)
cliPrint("unavailable\r\n");
break;
}
#endif
#ifndef SONAR
if (mask & FEATURE_SONAR) {
cliPrint("unavailable\r\n");
break;
}
#endif
if (remove) {
featureClear(mask);