From 47a4d30358d8c5b8502e14b70198dc23c399c7be Mon Sep 17 00:00:00 2001
From: "timecop@gmail.com"
 <timecop@gmail.com@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Mon, 21 Oct 2013 00:22:33 +0000
Subject: [PATCH] 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
---
 src/cli.c     |  4 ++--
 src/mw.h      | 10 +++++-----
 src/sensors.c |  4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/cli.c b/src/cli.c
index 0715b1c7f..0947e16bf 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -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");
 
diff --git a/src/mw.h b/src/mw.h
index 88ba2dcd7..207fe0cb7 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -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 {
diff --git a/src/sensors.c b/src/sensors.c
index ff4738b72..ed3bd94c3 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -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;