diff --git a/src/main/fc/config.c b/src/main/fc/config.c index bc809598ac..2135f15f16 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -89,18 +89,6 @@ profile_t *currentProfile; static uint8_t currentControlRateProfileIndex = 0; controlRateConfig_t *currentControlRateProfile; - -static void resetAccelerometerTrims(flightDynamicsTrims_t * accZero, flightDynamicsTrims_t * accGain) -{ - accZero->values.pitch = 0; - accZero->values.roll = 0; - accZero->values.yaw = 0; - - accGain->values.pitch = 4096; - accGain->values.roll = 4096; - accGain->values.yaw = 4096; -} - void resetPidProfile(pidProfile_t *pidProfile) { pidProfile->P8[ROLL] = 40; @@ -458,8 +446,6 @@ void createDefaultConfig(master_t *config) config->imuConfig.dcm_ki_mag = 0; // 0.00 * 10000 config->imuConfig.small_angle = 25; - resetAccelerometerTrims(&accelerometerConfig()->accZero, &accelerometerConfig()->accGain); - config->boardAlignment.rollDeciDegrees = 0; config->boardAlignment.pitchDeciDegrees = 0; config->boardAlignment.yawDeciDegrees = 0; diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index 4eac41b939..e61a95ae33 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -68,7 +68,7 @@ static uint16_t calibratingA = 0; // the calibration is done is the main lo static biquadFilter_t accFilter[XYZ_AXIS_COUNT]; -PG_REGISTER_PROFILE_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0); +PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0); void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance) { @@ -83,11 +83,12 @@ void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance) .raw[Z] = 0 ); RESET_CONFIG_2(flightDynamicsTrims_t, &instance->accGain, - .raw[X] = 0, - .raw[Y] = 0, - .raw[Z] = 0 + .raw[X] = 4096, + .raw[Y] = 4096, + .raw[Z] = 4096 ); } + static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse) { accelerationSensor_e accHardware = ACC_NONE; diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h index cb6edcf910..926ff114cd 100644 --- a/src/main/sensors/acceleration.h +++ b/src/main/sensors/acceleration.h @@ -53,7 +53,7 @@ typedef struct accelerometerConfig_s { flightDynamicsTrims_t accGain; // Accelerometer gain to read exactly 1G } accelerometerConfig_t; -PG_DECLARE_PROFILE(accelerometerConfig_t, accelerometerConfig); +PG_DECLARE(accelerometerConfig_t, accelerometerConfig); bool accInit(uint32_t accTargetLooptime); bool isAccelerationCalibrationComplete(void);