Changed alignSensors to have common src/dest

src/main/sensors/acceleration.c

@@ -219,7 +219,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
         }
     }
 
-    alignSensors(accSmooth, accSmooth, accAlign);
+    alignSensors(accSmooth, accAlign);
 
     if (!isAccelerationCalibrationComplete()) {
         performAcclerationCalibration(rollAndPitchTrims);

src/main/sensors/boardalignment.c

@@ -62,13 +62,12 @@ static void alignBoard(int32_t *vec)
     vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
 }
 
-void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation)
+void alignSensors(int32_t *dest, uint8_t rotation)
 {
-    const int32_t x = src[X];
-    const int32_t y = src[Y];
-    const int32_t z = src[Z];
+    const int32_t x = dest[X];
+    const int32_t y = dest[Y];
+    const int32_t z = dest[Z];
 
-    // note src and dest may point to the same address
     switch (rotation) {
     default:
     case CW0_DEG:

src/main/sensors/boardalignment.h

@@ -23,5 +23,5 @@ typedef struct boardAlignment_s {
     int32_t yawDegrees;
 } boardAlignment_t;
 
-void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation);
+void alignSensors(int32_t *dest, uint8_t rotation);
 void initBoardAlignment(const boardAlignment_t *boardAlignment);

src/main/sensors/compass.c

@@ -62,7 +62,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
 
     mag.read(magADCRaw);
     for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis];  // int32_t copy to work with
-    alignSensors(magADC, magADC, magAlign);
+    alignSensors(magADC, magAlign);
 
     if (STATE(CALIBRATE_MAG)) {
         tCal = currentTime;

src/main/sensors/gyro.c

@@ -170,7 +170,7 @@ void gyroUpdate(void)
     gyroADC[Y] = gyroADCRaw[Y];
     gyroADC[Z] = gyroADCRaw[Z];
 
-    alignSensors(gyroADC, gyroADC, gyroAlign);
+    alignSensors(gyroADC, gyroAlign);
 
     if (!isGyroCalibrationComplete()) {
         performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);