Merge pull request #7529 from jflyper/bfdev-stronger-USE_ACC

[REFACTOR] More application of USE_ACC

src/main/fc/config.c

@@ -140,8 +140,10 @@ static void activateConfig(void)
     rcControlsInit();
 
     failsafeReset();
+#ifdef USE_ACC
     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
     accInitFilters();
+#endif
 
     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle, throttleCorrectionConfig()->throttle_correction_value);
 

src/main/fc/core.c

@@ -184,7 +184,13 @@ static bool isCalibrating(void)
 
     // Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
 
-    return (!accIsCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
+    return (
+#ifdef USE_ACC
+        !accIsCalibrationComplete()
+#else
+        false
+#endif
+            && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
 }
 
 #ifdef USE_LAUNCH_CONTROL

src/main/fc/init.c

@@ -538,7 +538,9 @@ void init(void)
     // so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
     validateAndFixGyroConfig();
     pidInit(currentPidProfile);
+#ifdef USE_ACC
     accInitFilters();
+#endif
 
 #ifdef USE_PID_AUDIO
     pidAudioInit();
@@ -702,9 +704,11 @@ void init(void)
     blackboxInit();
 #endif
 
+#ifdef USE_ACC
     if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
     }
+#endif
     gyroStartCalibration(false);
 #ifdef USE_BARO
     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);

src/main/fc/rc_controls.c

@@ -278,12 +278,13 @@ void processRcStickPositions()
         saveConfigAndNotify();
     }
 
+#ifdef USE_ACC
     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
         // Calibrating Acc
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
         return;
     }
-
+#endif
 
     if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
         // Calibrating Mag

src/main/fc/tasks.c

@@ -149,10 +149,12 @@ static void taskBatteryAlerts(timeUs_t currentTimeUs)
     batteryUpdateAlarms();
 }
 
+#ifdef USE_ACC
 static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
 {
     accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
 }
+#endif
 
 static void taskUpdateRxMain(timeUs_t currentTimeUs)
 {
@@ -389,7 +391,9 @@ cfTask_t cfTasks[TASK_COUNT] = {
 #endif
 
     [TASK_GYROPID] = DEFINE_TASK("PID", "GYRO", NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
+#ifdef USE_ACC
     [TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
+#endif
     [TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
     [TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
     [TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),

src/main/flight/imu.c

@@ -351,6 +351,7 @@ STATIC_UNIT_TESTED void imuUpdateEulerAngles(void)
     }
 }
 
+#ifdef USE_ACC
 static bool imuIsAccelerometerHealthy(float *accAverage)
 {
     float accMagnitudeSq = 0;
@@ -364,6 +365,7 @@ static bool imuIsAccelerometerHealthy(float *accAverage)
     // Accept accel readings only in range 0.9g - 1.1g
     return (0.81f < accMagnitudeSq) && (accMagnitudeSq < 1.21f);
 }
+#endif
 
 // Calculate the dcmKpGain to use. When armed, the gain is imuRuntimeConfig.dcm_kp * 1.0 scaling.
 // When disarmed after initial boot, the scaling is set to 10.0 for the first 20 seconds to speed up initial convergence.
@@ -489,9 +491,12 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
 #endif
     float gyroAverage[XYZ_AXIS_COUNT];
     gyroGetAccumulationAverage(gyroAverage);
+
+#ifdef USE_ACC
     if (accGetAccumulationAverage(accAverage)) {
         useAcc = imuIsAccelerometerHealthy(accAverage);
     }
+#endif
 
     imuMahonyAHRSupdate(deltaT * 1e-6f,
                         DEGREES_TO_RADIANS(gyroAverage[X]), DEGREES_TO_RADIANS(gyroAverage[Y]), DEGREES_TO_RADIANS(gyroAverage[Z]),

src/main/msp/msp.c

@@ -2066,10 +2066,12 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         }
         break;
 
+#ifdef USE_ACC
     case MSP_ACC_CALIBRATION:
         if (!ARMING_FLAG(ARMED))
             accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
         break;
+#endif
 
     case MSP_MAG_CALIBRATION:
         if (!ARMING_FLAG(ARMED))

src/main/sensors/acceleration.c

@@ -82,26 +82,8 @@
 #include "hardware_revision.h"
 #endif
 
-
 FAST_RAM_ZERO_INIT acc_t acc;                       // acc access functions
 
-static float accumulatedMeasurements[XYZ_AXIS_COUNT];
-static int accumulatedMeasurementCount;
-
-static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
-
-extern uint16_t InflightcalibratingA;
-extern bool AccInflightCalibrationMeasurementDone;
-extern bool AccInflightCalibrationSavetoEEProm;
-extern bool AccInflightCalibrationActive;
-
-static flightDynamicsTrims_t *accelerationTrims;
-
-static uint16_t accLpfCutHz = 0;
-static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
-
-PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 1);
-
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
 {
     RESET_CONFIG_2(rollAndPitchTrims_t, rollAndPitchTrims,
@@ -138,6 +120,24 @@ void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
     resetFlightDynamicsTrims(&instance->accZero);
 }
 
+PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 1);
+
+#ifdef USE_ACC
+extern uint16_t InflightcalibratingA;
+extern bool AccInflightCalibrationMeasurementDone;
+extern bool AccInflightCalibrationSavetoEEProm;
+extern bool AccInflightCalibrationActive;
+
+static float accumulatedMeasurements[XYZ_AXIS_COUNT];
+static int accumulatedMeasurementCount;
+
+static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
+
+static flightDynamicsTrims_t *accelerationTrims;
+
+static uint16_t accLpfCutHz = 0;
+static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
+
 bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
 {
     accelerationSensor_e accHardware = ACC_NONE;
@@ -536,3 +536,4 @@ void accInitFilters(void)
         }
     }
 }
+#endif

src/main/sensors/initialisation.c

@@ -66,9 +66,11 @@ bool sensorsAutodetect(void)
 
     bool gyroDetected = gyroInit();
 
+#ifdef USE_ACC
     if (gyroDetected) {
         accInit(gyro.targetLooptime);
     }
+#endif
 
 #ifdef USE_MAG
     compassInit();

src/main/target/OMNIBUSF4/target.h

@@ -73,7 +73,7 @@
 
 #define USE_EXTI
 
-#define USE_ACC
+//#define USE_ACC
 #define USE_ACC_SPI_MPU6000
 
 #define USE_GYRO