removed mpu6050_scale cli since it's now autodetected.

the value is now printed in the status command, after MPU6050 as MPU6050.n = new revision, MPU6050.o = old revision.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@278 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -156,7 +156,6 @@ const clivalue_t valueTable[] = {
     { "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 },
     { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
     { "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
-    { "mpu6050_scale", VAR_UINT8, &cfg.mpu6050_scale, 0, 1 },
     { "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
     { "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
     { "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 },
@@ -748,8 +747,11 @@ static void cliStatus(char *cmdline)
         if (mask & (1 << i))
             printf("%s ", sensorNames[i]);
     }
-    if (sensors(SENSOR_ACC))
+    if (sensors(SENSOR_ACC)) {
         printf("ACCHW: %s", accNames[accHardware]);
+        if (accHardware == ACC_MPU6050)
+            printf(".%c", cfg.mpu6050_scale ? 'n' : 'o');
+    }
     uartPrint("\r\n");
 
     printf("Cycle Time: %d, I2C Errors: %d\r\n", cycleTime, i2cGetErrorCounter());

src/drv_mpu6050.c

@@ -145,7 +145,7 @@ int16_t dmpGyroData[3];
 extern uint16_t acc_1G;
 static uint8_t mpuAccelHalf = 0;
 
-bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
+bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t *scale)
 {
     bool ack;
     uint8_t sig, rev;
@@ -195,6 +195,10 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
     gyro->read = mpu6050GyroRead;
     gyro->align = mpu6050GyroAlign;
 
+    // give halfacc (old revision) back to system
+    if (scale)
+        *scale = mpuAccelHalf;
+
 #ifdef MPU6050_DMP
     mpu6050DmpInit();
 #endif

src/drv_mpu6050.h

@@ -1,5 +1,5 @@
 #pragma once
 
-bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale);
+bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t *scale);
 void mpu6050DmpLoop(void);
 void mpu6050DmpResetFifo(void);

src/sensors.c

@@ -36,7 +36,7 @@ void sensorsAutodetect(void)
     bool havel3g4200d = false;
 
     // Autodetect gyro hardware. We have MPU3050 or MPU6050.
-    if (mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale)) {
+    if (mpu6050Detect(&acc, &gyro, &cfg.mpu6050_scale)) {
         // this filled up  acc.* struct with init values
         haveMpu6k = true;
     } else if (l3g4200dDetect(&gyro)) {
@@ -60,7 +60,7 @@ retry:
             ; // fallthrough
        case 2: // MPU6050
             if (haveMpu6k) {
-                mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale); // yes, i'm rerunning it again.  re-fill acc struct
+                mpu6050Detect(&acc, &gyro, &cfg.mpu6050_scale); // yes, i'm rerunning it again.  re-fill acc struct
                 accHardware = ACC_MPU6050;
                 if (cfg.acc_hardware == ACC_MPU6050)
                     break;