From ec9a713c2fc28a116e935dbf0af3246f81f6e12d Mon Sep 17 00:00:00 2001
From: Faduf <francois.dufourniaud@gadz.org>
Date: Sun, 1 Jul 2018 11:15:59 +0200
Subject: [PATCH] Revert change and use a specific config for YUPIF7

---
 src/main/sensors/boardalignment.c |  2 +-
 src/main/target/YUPIF7/config.c   | 17 +++--------------
 src/main/target/YUPIF7/target.h   |  1 +
 3 files changed, 5 insertions(+), 15 deletions(-)

diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index 561144194..745f45ad8 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -73,7 +73,7 @@ static void alignBoard(float *vec)
     vec[Z] = (boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
 }
 
-void alignSensors(float *dest, uint8_t rotation)
+FAST_CODE void alignSensors(float *dest, uint8_t rotation)
 {
     const float x = dest[X];
     const float y = dest[Y];
diff --git a/src/main/target/YUPIF7/config.c b/src/main/target/YUPIF7/config.c
index 1951848c2..7438ca8fe 100644
--- a/src/main/target/YUPIF7/config.c
+++ b/src/main/target/YUPIF7/config.c
@@ -26,24 +26,13 @@
 #ifdef USE_TARGET_CONFIG
 #include "fc/config.h"
 
-#include "flight/pid.h"
+#include "sensors/boardalignment.h"
 
 
 // alternative defaults settings for YuPiF4 targets
 void targetConfiguration(void)
 {
-    /* Specific PID values for YupiF4 */
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
-        pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
-
-        pidProfile->pid[PID_ROLL].P = 30;
-        pidProfile->pid[PID_ROLL].I = 45;
-        pidProfile->pid[PID_ROLL].D = 20;
-        pidProfile->pid[PID_PITCH].P = 30;
-        pidProfile->pid[PID_PITCH].I = 50;
-        pidProfile->pid[PID_PITCH].D = 20;
-        pidProfile->pid[PID_YAW].P = 40;
-        pidProfile->pid[PID_YAW].I = 50;
-    }
+    boardAlignmentMutable()->yawDegrees = 90;
 }
 #endif
+
diff --git a/src/main/target/YUPIF7/target.h b/src/main/target/YUPIF7/target.h
index 3cc686c13..1c0426553 100644
--- a/src/main/target/YUPIF7/target.h
+++ b/src/main/target/YUPIF7/target.h
@@ -20,6 +20,7 @@
 
 #pragma once
 #define TARGET_BOARD_IDENTIFIER "YPF7"
+#define USE_TARGET_CONFIG
 
 #define USBD_PRODUCT_STRING     "YUPIF7"