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fixed cli status command (thx alexk) 

moved mpuscale into core struct since it's not a changeable setting

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@447 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-21 00:22:33 +00:00
parent 8d7f82dc75
commit 47a4d30358
3 changed files with 9 additions and 9 deletions
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4
src/cli.c
View File

@ -50,7 +50,7 @@ static const char * const featureNames[] = {
// sync this with AvailableSensors enum from board.h
static const char * const sensorNames[] = {
"ACC", "BARO", "MAG", "SONAR", "GPS", NULL
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", NULL
};
static const char * const accNames[] = {
@ -896,7 +896,7 @@ static void cliStatus(char *cmdline)
if (sensors(SENSOR_ACC)) {
printf("ACCHW: %s", accNames[accHardware]);
if (accHardware == ACC_MPU6050)
printf(".%c", mcfg.mpu6050_scale ? 'o' : 'n');
printf(".%c", core.mpu6050_scale ? 'o' : 'n');
}
cliPrint("\r\n");

10
src/mw.h
View File

@ -244,7 +244,6 @@ typedef struct master_t {
uint16_t gyro_cmpfm_factor; // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
uint8_t moron_threshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
uint8_t mpu6050_scale; // es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. automatically set by mpu6050 driver.
int16_t accZero[3];
int16_t magZero[3];
@ -265,11 +264,11 @@ typedef struct master_t {
uint8_t rssi_aux_channel; // Read rssi from channel. 1+ = AUX1+, 0 to disable.
// gps-related stuff
uint8_t gps_type; // Type of GPS hardware. 0: NMEA 1: UBX 2: MTK
uint8_t gps_type; // Type of GPS hardware. 0: NMEA 1: UBX 2: MTK NMEA 3: MTK Binary
int8_t gps_baudrate; // GPS baudrate, -1: autodetect (NMEA only), 0: 115200, 1: 57600, 2: 38400, 3: 19200, 4: 9600
uint32_t serial_baudrate;
uint32_t softserial_baudrate;
uint8_t softserial_inverted; // use inverted softserial input and output signals
@ -286,8 +285,9 @@ typedef struct core_t {
serialPort_t *gpsport;
serialPort_t *telemport;
serialPort_t *rcvrport;
bool useServo;
uint8_t numRCChannels;
uint8_t mpu6050_scale; // es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. automatically set by mpu6050 driver.
uint8_t numRCChannels; // number of rc channels as reported by current input driver
bool useServo; // feature SERVO_TILT or wing/airplane mixers will enable this
} core_t;
typedef struct flags_t {

4
src/sensors.c
View File

@ -36,7 +36,7 @@ void sensorsAutodetect(void)
bool haveMpu6k = false;
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &mcfg.mpu6050_scale)) {
if (mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &core.mpu6050_scale)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
} else if (l3g4200dDetect(&gyro, mcfg.gyro_lpf)) {
@ -64,7 +64,7 @@ retry:
; // fallthrough
case ACC_MPU6050: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &mcfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &core.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (mcfg.acc_hardware == ACC_MPU6050)
break;