Merge remote-tracking branch 'origin/master' into dzikuvx-adaptive-filter

cmake/arm-none-eabi-checks.cmake

@@ -47,7 +47,7 @@ function(arm_none_eabi_gcc_install)
         host_uname_machine(machine)
         if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64")
             set(dist ${arm_none_eabi_darwin_amd64})
-        elseif(machine STREQUAL "aarch64")
+        elseif(machine STREQUAL "aarch64" OR machine STREQUAL "arm64")
             set(dist ${arm_none_eabi_darwin_aarch64})
         else()
             message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")

docs/Rangefinder.md

@@ -20,6 +20,7 @@ Following rangefinders are supported:
 * UIB - experimental
 * MSP - experimental
 * TOF10120 - small & lightweight laser range sensor, usable up to 200cm
+* TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
 
 ## Connections
 

docs/Settings.md

@@ -4372,6 +4372,16 @@ Use wind estimation for remaining flight time/distance estimation
 
 ---
 
+### osd_estimations_wind_mps
+
+Wind speed estimation in m/s
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### osd_failsafe_switch_layout
 
 If enabled the OSD automatically switches to the first layout during failsafe

src/main/CMakeLists.txt

@@ -237,6 +237,8 @@ main_sources(COMMON_SRC
     drivers/rangefinder/rangefinder_us42.h
     drivers/rangefinder/rangefinder_tof10120_i2c.c
     drivers/rangefinder/rangefinder_tof10120_i2c.h
+    drivers/rangefinder/rangefinder_teraranger_evo.c
+    drivers/rangefinder/rangefinder_teraranger_evo.h
 
     drivers/resource.c
     drivers/resource.h

src/main/common/maths.h

@@ -56,6 +56,8 @@
 #define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
 #define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD)
 
+#define MILLIMETERS_TO_CENTIMETERS(mm)  (mm / 10.0f)
+
 #define CENTIMETERS_TO_CENTIFEET(cm)    (cm / 0.3048f)
 #define CENTIMETERS_TO_FEET(cm)         (cm / 30.48f)
 #define CENTIMETERS_TO_METERS(cm)       (cm * 0.01f)

src/main/drivers/bus.h

@@ -135,6 +135,7 @@ typedef enum {
     DEVHW_VL53L1X,
     DEVHW_US42,
     DEVHW_TOF10120_I2C,
+    DEVHW_TERARANGER_EVO_I2C,
 
     /* Other hardware */
     DEVHW_MS4525,       // Pitot meter

src/main/drivers/rangefinder/rangefinder_teraranger_evo.c

@@ -0,0 +1,128 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "common/maths.h"
+
+#if defined(USE_RANGEFINDER) && defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
+
+#include "build/build_config.h"
+
+#include "common/crc.h"
+
+#include "drivers/time.h"
+#include "drivers/bus_i2c.h"
+
+#include "drivers/rangefinder/rangefinder.h"
+#include "drivers/rangefinder/rangefinder_teraranger_evo.h"
+
+#include "build/debug.h"
+
+#define TERARANGER_EVO_DETECTION_CONE_DECIDEGREES             900
+#define TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES    900
+
+#define TERARANGER_EVO_I2C_ADDRESS                    0x31
+#define TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING   0x00 // Write this command to the TeraRanger Evo and after a wait of approximately 500us read the 3 byte distance response
+#define TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I          0x01 // Write this value to TeraRanger Evo via I2C and the device responds with 0xA
+#define TERARANGER_EVO_I2C_REGISTRY_CHANGE_BASE_ADDR  0xA2 // This command assigns a base address that will be memorised by the TerRanger Evo ie. power cycling the Evo will not restore the default I2C address.
+
+#define TERARANGER_EVO_I2C_ANSWER_WHO_AM_I            0xA1
+
+#define TERARANGER_EVO_VALUE_TOO_CLOSE                0x0000
+#define TERARANGER_EVO_VALUE_OUT_OF_RANGE             0xffff
+
+static      int16_t     minimumReadingIntervalMs = 50;
+            uint8_t     triggerValue[0];
+volatile    int32_t     teraRangerMeasurementCm;
+static      uint32_t    timeOfLastMeasurementMs;
+static      uint8_t     dataBuff[3];
+
+static void teraRangerInit(rangefinderDev_t *rangefinder){
+    busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, triggerValue, 1);
+}
+
+void teraRangerUpdate(rangefinderDev_t *rangefinder){
+    if (busReadBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, dataBuff, 3)) {
+        teraRangerMeasurementCm = MILLIMETERS_TO_CENTIMETERS(((int32_t)dataBuff[0] << 8 | (int32_t)dataBuff[1]));
+
+        if(dataBuff[2] == crc8_update(0, &dataBuff, 2)){
+            if (teraRangerMeasurementCm == TERARANGER_EVO_VALUE_TOO_CLOSE || teraRangerMeasurementCm == TERARANGER_EVO_VALUE_OUT_OF_RANGE) {
+                teraRangerMeasurementCm = RANGEFINDER_OUT_OF_RANGE;
+            }
+        }
+    } else {
+        teraRangerMeasurementCm = RANGEFINDER_HARDWARE_FAILURE;
+    }
+
+    const timeMs_t timeNowMs = millis();
+    if (timeNowMs > timeOfLastMeasurementMs + minimumReadingIntervalMs) {
+        // measurement repeat interval should be greater than minimumReadingIntervalMs
+        // to avoid interference between connective measurements.
+        timeOfLastMeasurementMs = timeNowMs;
+        busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_ADDRESS, triggerValue, 1);
+    }
+}
+
+
+int32_t teraRangerGetDistance(rangefinderDev_t *rangefinder){
+    UNUSED(rangefinder);
+    return teraRangerMeasurementCm;
+}
+
+static bool deviceDetect(busDevice_t * busDev){
+    for (int retry = 0; retry < 5; retry++) {
+        uint8_t whoIamResult;
+
+        delay(150);
+
+        bool ack = busRead(busDev, TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I, &whoIamResult);
+        if (ack && whoIamResult == TERARANGER_EVO_I2C_ANSWER_WHO_AM_I) {
+            return true;
+        }
+    };
+
+    return false;
+}
+
+bool teraRangerDetect(rangefinderDev_t *rangefinder){
+    rangefinder->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_TERARANGER_EVO_I2C, 0, OWNER_RANGEFINDER);
+    if (rangefinder->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(rangefinder->busDev)) {
+        busDeviceDeInit(rangefinder->busDev);
+        return false;
+    }
+
+    rangefinder->delayMs = RANGEFINDER_TERA_EVO_TASK_PERIOD_MS;
+    rangefinder->maxRangeCm = RANGEFINDER_TERA_EVO_MAX_RANGE_CM;
+    rangefinder->detectionConeDeciDegrees = TERARANGER_EVO_DETECTION_CONE_DECIDEGREES;
+    rangefinder->detectionConeExtendedDeciDegrees = TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES;
+
+    rangefinder->init = &teraRangerInit;
+    rangefinder->update = &teraRangerUpdate;
+    rangefinder->read = &teraRangerGetDistance;
+
+    return true;
+}
+
+#endif

src/main/drivers/rangefinder/rangefinder_teraranger_evo.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+#pragma once
+
+#define RANGEFINDER_TERA_EVO_TASK_PERIOD_MS 70
+#define RANGEFINDER_TERA_EVO_MAX_RANGE_CM 600 // max distance depends on model https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
+
+bool teraRangerDetect(rangefinderDev_t *dev);

src/main/fc/fc_msp_box.c

@@ -219,9 +219,6 @@ void initActiveBoxIds(void)
 
     const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
     bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
-    if (STATE(MULTIROTOR)) {
-        navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
-    }
 
     if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
         ADD_ACTIVE_BOX(BOXNAVPOSHOLD);

src/main/fc/settings.yaml

@@ -7,7 +7,7 @@ tables:
     values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX",  "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE"]
+    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO"]
     enum: rangefinderType_e
   - name: mag_hardware
     values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
@@ -179,7 +179,7 @@ tables:
     values: ["OFF", "ON", "FS"]
     enum: rthTrackbackMode_e
   - name: dynamic_gyro_notch_mode
-    values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"]
+    values: ["2D", "3D"]
     enum: dynamicGyroNotchMode_e
   - name: nav_fw_wp_turn_smoothing
     values: ["OFF", "ON", "ON-CUT"]
@@ -3501,6 +3501,12 @@ groups:
         condition: USE_WIND_ESTIMATOR
         field: estimations_wind_compensation
         type: bool
+      - name: osd_estimations_wind_mps
+        description: "Wind speed estimation in m/s"
+        default_value: OFF
+        condition: USE_WIND_ESTIMATOR
+        field: estimations_wind_mps
+        type: bool
 
       - name: osd_failsafe_switch_layout
         description: "If enabled the OSD automatically switches to the first layout during failsafe"

src/main/flight/secondary_dynamic_gyro_notch.c

@@ -44,46 +44,25 @@ void secondaryDynamicGyroNotchFiltersInit(secondaryDynamicGyroNotchState_t *stat
     state->enabled = gyroConfig()->dynamicGyroNotchMode != DYNAMIC_NOTCH_MODE_2D;
     state->looptime = getLooptime();
 
-    if (
+    if (gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D) {
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_R ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
-    ) {
         /* 
          * Enable ROLL filter
          */
         biquadFilterInit(&state->filters[FD_ROLL], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
         state->filtersApplyFn[FD_ROLL] = (filterApplyFnPtr)biquadFilterApplyDF1;
-    }
     
-    if (
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_P ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
-    ) {
         /* 
          * Enable PITCH filter
          */
         biquadFilterInit(&state->filters[FD_PITCH], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
         state->filtersApplyFn[FD_PITCH] = (filterApplyFnPtr)biquadFilterApplyDF1;
-    }
     
-    if (
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_Y ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY ||
-        gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
-    ) {
         /* 
          * Enable YAW filter
          */
         biquadFilterInit(&state->filters[FD_YAW], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
         state->filtersApplyFn[FD_YAW] = (filterApplyFnPtr)biquadFilterApplyDF1;
     }
-
-    
 }
 
 void secondaryDynamicGyroNotchFiltersUpdate(secondaryDynamicGyroNotchState_t *state, int axis, float frequency[]) {

src/main/io/osd.c

@@ -223,7 +223,7 @@ static bool osdDisplayHasCanvas;
 
 #define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
 
-PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 9);
+PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 10);
 PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 1);
 
 void osdStartedSaveProcess(void) {
@@ -499,8 +499,16 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
             break;
         default:
         case OSD_UNIT_METRIC:
+            if (osdConfig()->estimations_wind_mps)
+            {
+                centivalue = ws;
+                suffix = SYM_MS;
+            }
+            else
+            {
                 centivalue = CMSEC_TO_CENTIKPH(ws);
                 suffix = SYM_KMH;
+            }
             break;
     }
 
@@ -839,7 +847,7 @@ void osdFormatPilotName(char *buff)
 static const char * osdArmingDisabledReasonMessage(void)
 {
     const char *message = NULL;
-    char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)];
+    static char messageBuf[OSD_MESSAGE_LENGTH+1];
 
     switch (isArmingDisabledReason()) {
         case ARMING_DISABLED_FAILSAFE_SYSTEM:
@@ -5665,7 +5673,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
 
     if (buff != NULL) {
         const char *message = NULL;
-        char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)];
+        char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)]; //warning: shared buffer. Make sure it is used by single message in code below!
         // We might have up to 5 messages to show.
         const char *messages[5];
         unsigned messageCount = 0;

src/main/io/osd.h

@@ -418,6 +418,7 @@ typedef struct osdConfig_s {
 
 #ifdef USE_WIND_ESTIMATOR
     bool            estimations_wind_compensation;      // use wind compensation for estimated remaining flight/distance
+    bool            estimations_wind_mps;               // wind speed estimation in m/s
 #endif
     uint8_t         coordinate_digits;
     bool            osd_failsafe_switch_layout;

src/main/sensors/gyro.c

@@ -96,7 +96,7 @@ EXTENDED_FASTRAM secondaryDynamicGyroNotchState_t secondaryDynamicGyroNotchState
 
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 6);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 7);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,

src/main/sensors/gyro.h

@@ -49,12 +49,6 @@ typedef enum {
 
 typedef enum {
     DYNAMIC_NOTCH_MODE_2D = 0,
-    DYNAMIC_NOTCH_MODE_R,
-    DYNAMIC_NOTCH_MODE_P,
-    DYNAMIC_NOTCH_MODE_Y,
-    DYNAMIC_NOTCH_MODE_RP,
-    DYNAMIC_NOTCH_MODE_RY,
-    DYNAMIC_NOTCH_MODE_PY,
     DYNAMIC_NOTCH_MODE_3D
 } dynamicGyroNotchMode_e;
 

src/main/sensors/rangefinder.c

@@ -41,6 +41,7 @@
 #include "drivers/rangefinder/rangefinder_vl53l1x.h"
 #include "drivers/rangefinder/rangefinder_virtual.h"
 #include "drivers/rangefinder/rangefinder_us42.h"
+#include "drivers/rangefinder/rangefinder_teraranger_evo.h"
 #include "drivers/rangefinder/rangefinder_tof10120_i2c.h"
 
 #include "fc/config.h"
@@ -88,6 +89,14 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
+            case RANGEFINDER_TERARANGER_EVO:
+#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
+            if (teraRangerDetect(dev)) {
+                rangefinderHardware = RANGEFINDER_TERARANGER_EVO;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TERA_EVO_TASK_PERIOD_MS));
+            }
+#endif
+            break;
             case RANGEFINDER_VL53L0X:
 #if defined(USE_RANGEFINDER_VL53L0X)
             if (vl53l0xDetect(dev)) {

src/main/sensors/rangefinder.h

@@ -31,6 +31,7 @@ typedef enum {
     RANGEFINDER_US42                = 6,
     RANGEFINDER_TOF10102I2C         = 7,
     RANGEFINDER_FAKE                = 8,
+    RANGEFINDER_TERARANGER_EVO      = 9,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {

src/main/target/AOCODARCF405AIO/target.h

@@ -142,7 +142,8 @@
 #define SERIALRX_UART        SERIAL_PORT_USART2
 #define DEFAULT_RX_TYPE      RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER    SERIALRX_CRSF
-#define CURRENT_METER_SCALE  500
+#define CURRENT_METER_SCALE  589
+#define CURRENT_METER_OFFSET -204
 
 /*** Optical Flow & Lidar ***/
 #define USE_RANGEFINDER

src/main/target/common.h

@@ -83,6 +83,7 @@
 #define USE_RANGEFINDER_VL53L1X
 #define USE_RANGEFINDER_US42
 #define USE_RANGEFINDER_TOF10120_I2C
+#define USE_RANGEFINDER_TERARANGER_EVO_I2C
 
 // Allow default optic flow boards
 #define USE_OPFLOW
@@ -111,7 +112,6 @@
 #define USE_FRSKYOSD
 #define USE_DJI_HD_OSD
 #define USE_MSP_OSD
-#define USE_SMARTPORT_MASTER
 
 #define NAV_NON_VOLATILE_WAYPOINT_CLI
 
@@ -199,9 +199,17 @@
 #define USE_HOTT_TEXTMODE
 #define USE_24CHANNELS
 #define MAX_MIXER_PROFILE_COUNT 2
+#define USE_SMARTPORT_MASTER
 #elif !defined(STM32F7)
 #define MAX_MIXER_PROFILE_COUNT 1
 #endif
+
+#if (MCU_FLASH_SIZE <= 512)
+    #define SKIP_CLI_COMMAND_HELP
+    #undef USE_SERIALRX_SPEKTRUM
+    #undef USE_TELEMETRY_SRXL
+#endif
+
 #define USE_EZ_TUNE
 
 #ifdef STM32H7

src/main/target/common_hardware.c

@@ -341,6 +341,15 @@
     #endif
 #endif
 
+#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
+    #if !defined(TERARANGER_EVO_I2C_BUS) && defined(RANGEFINDER_I2C_BUS)
+        #define TERARANGER_EVO_I2C_BUS RANGEFINDER_I2C_BUS
+    #endif
+    #if defined(TERARANGER_EVO_I2C_BUS)
+    BUSDEV_REGISTER_I2C(busdev_teraranger_evo,       DEVHW_TERARANGER_EVO_I2C,       TERARANGER_EVO_I2C_BUS,       0x31,       NONE,       DEVFLAGS_NONE,  0);
+    #endif
+#endif
+
 #if defined(USE_RANGEFINDER_TOF10120_I2C) && (defined(TOF10120_I2C_BUS) || defined(RANGEFINDER_I2C_BUS))
     #if !defined(TOF10120_I2C_BUS)
         #define TOF10120_I2C_BUS RANGEFINDER_I2C_BUS