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Code Issues Wiki Activity

Deprecate and remove USE_ACC and USE_GYRO; Replace ACC_xxx_ALIGN/GYRO_xxx_ALIGN with IMU_xxx_ALIGN

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2020-05-05 15:03:35 +02:00
parent 0408358e04
commit 99f6c42d7c
108 changed files with 368 additions and 853 deletions
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19
src/main/fc/fc_msp.c
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@ -1273,7 +1273,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
case MSP_CALIBRATION_DATA:
#ifdef USE_ACC
sbufWriteU8(dst, accGetCalibrationAxisFlags());
sbufWriteU16(dst, accelerometerConfig()->accZero.raw[X]);
sbufWriteU16(dst, accelerometerConfig()->accZero.raw[Y]);
@ -1281,15 +1280,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, accelerometerConfig()->accGain.raw[X]);
sbufWriteU16(dst, accelerometerConfig()->accGain.raw[Y]);
sbufWriteU16(dst, accelerometerConfig()->accGain.raw[Z]);
#else
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
#ifdef USE_MAG
sbufWriteU16(dst, compassConfig()->magZero.raw[X]);
@ -2207,21 +2197,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_CALIBRATION_DATA:
if (dataSize >= 18) {
#ifdef USE_ACC
accelerometerConfigMutable()->accZero.raw[X] = sbufReadU16(src);
accelerometerConfigMutable()->accZero.raw[Y] = sbufReadU16(src);
accelerometerConfigMutable()->accZero.raw[Z] = sbufReadU16(src);
accelerometerConfigMutable()->accGain.raw[X] = sbufReadU16(src);
accelerometerConfigMutable()->accGain.raw[Y] = sbufReadU16(src);
accelerometerConfigMutable()->accGain.raw[Z] = sbufReadU16(src);
#else
sbufReadU16(src);
sbufReadU16(src);
sbufReadU16(src);
sbufReadU16(src);
sbufReadU16(src);
sbufReadU16(src);
#endif
#ifdef USE_MAG
compassConfigMutable()->magZero.raw[X] = sbufReadU16(src);