Split gyro device out of gyro sensor struct

src/main/drivers/accgyro_fake.c

@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef USE_FAKE_GYRO
+
 #include "common/axis.h"
 #include "common/utils.h"
 
@@ -27,8 +29,6 @@
 #include "accgyro_fake.h"
 
 
-#ifdef USE_FAKE_GYRO
-
 static int16_t fakeGyroADC[XYZ_AXIS_COUNT];
 
 static void fakeGyroInit(gyroDev_t *gyro)

src/main/fc/fc_core.c

@@ -93,7 +93,6 @@ int16_t headFreeModeHold;
 
 uint8_t motorControlEnable = false;
 
-int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
 bool isRXDataNew;
@@ -470,8 +469,8 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
     if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
 
     // Read out gyro temperature if used for telemmetry
-    if (feature(FEATURE_TELEMETRY) && gyro.dev.temperature) {
+    if (feature(FEATURE_TELEMETRY)) {
-        gyro.dev.temperature(&gyro.dev, &telemTemperature1);
+        gyroReadTemperature();
     }
 
 #ifdef MAG

src/main/fc/fc_msp.c

@@ -664,7 +664,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
                 sbufWriteU16(dst, acc.accSmooth[i] / scale);
             }
             for (int i = 0; i < 3; i++) {
-                sbufWriteU16(dst, lrintf(gyro.gyroADCf[i] / gyro.dev.scale));
+                sbufWriteU16(dst, gyroRateDps(i));
             }
             for (int i = 0; i < 3; i++) {
                 sbufWriteU16(dst, mag.magADC[i]);

src/main/sensors/acceleration.c

@@ -35,18 +35,18 @@
 #include "drivers/accgyro_bma280.h"
 #include "drivers/accgyro_fake.h"
 #include "drivers/accgyro_l3g4200d.h"
+#include "drivers/accgyro_l3gd20.h"
+#include "drivers/accgyro_lsm303dlhc.h"
 #include "drivers/accgyro_mma845x.h"
 #include "drivers/accgyro_mpu.h"
 #include "drivers/accgyro_mpu3050.h"
 #include "drivers/accgyro_mpu6050.h"
 #include "drivers/accgyro_mpu6500.h"
-#include "drivers/accgyro_l3gd20.h"
-#include "drivers/accgyro_lsm303dlhc.h"
-#include "drivers/bus_spi.h"
 #include "drivers/accgyro_spi_icm20689.h"
 #include "drivers/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro_spi_mpu9250.h"
+#include "drivers/bus_spi.h"
 #include "drivers/system.h"
 
 #include "fc/config.h"
@@ -250,8 +250,8 @@ bool accInit(uint32_t gyroSamplingInverval)
 {
     memset(&acc, 0, sizeof(acc));
     // copy over the common gyro mpu settings
-    acc.dev.mpuConfiguration = gyro.dev.mpuConfiguration;
+    acc.dev.mpuConfiguration = *gyroMpuConfiguration();
-    acc.dev.mpuDetectionResult = gyro.dev.mpuDetectionResult;
+    acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
     if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
         return false;
     }
@@ -278,6 +278,9 @@ bool accInit(uint32_t gyroSamplingInverval)
             biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, acc.accSamplingInterval);
         }
     }
+    if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
+        acc.dev.accAlign = accelerometerConfig()->acc_align;
+    }
     return true;
 }
 

src/main/sensors/compass.c

@@ -44,6 +44,7 @@
 #include "hardware_revision.h"
 #endif
 
+magDev_t magDev;
 mag_t mag;                   // mag access functions
 
 #ifdef MAG
@@ -146,17 +147,25 @@ retry:
     return true;
 }
 
-void compassInit(void)
+bool compassInit(void)
 {
     // initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
     // calculate magnetic declination
+    mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
+    if (!compassDetect(&magDev, compassConfig()->mag_hardware)) {
+        return false;
+    }
     const int16_t deg = compassConfig()->mag_declination / 100;
     const int16_t min = compassConfig()->mag_declination % 100;
     mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
     LED1_ON;
-    mag.dev.init();
+    magDev.init();
     LED1_OFF;
     magInit = 1;
+    if (compassConfig()->mag_align != ALIGN_DEFAULT) {
+        magDev.magAlign = compassConfig()->mag_align;
+    }
+    return true;
 }
 
 void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
@@ -165,11 +174,11 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
     static flightDynamicsTrims_t magZeroTempMin;
     static flightDynamicsTrims_t magZeroTempMax;
 
-    mag.dev.read(magADCRaw);
+    magDev.read(magADCRaw);
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         mag.magADC[axis] = magADCRaw[axis];
     }
-    alignSensors(mag.magADC, mag.dev.magAlign);
+    alignSensors(mag.magADC, magDev.magAlign);
 
     if (STATE(CALIBRATE_MAG)) {
         tCal = currentTime;

src/main/sensors/compass.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include "config/parameter_group.h"
-#include "drivers/compass.h"
+#include "drivers/sensor.h"
 #include "sensors/sensors.h"
 
 
@@ -32,7 +32,6 @@ typedef enum {
 } magSensor_e;
 
 typedef struct mag_s {
-    magDev_t dev;
     int32_t magADC[XYZ_AXIS_COUNT];
     float magneticDeclination;
 } mag_t;
@@ -49,8 +48,7 @@ typedef struct compassConfig_s {
 
 PG_DECLARE(compassConfig_t, compassConfig);
 
-bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse);
+bool compassInit(void);
-void compassInit(void);
 union flightDynamicsTrims_u;
 void compassUpdate(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
 

src/main/sensors/gyro.c

@@ -36,13 +36,13 @@
 #include "drivers/accgyro_bma280.h"
 #include "drivers/accgyro_fake.h"
 #include "drivers/accgyro_l3g4200d.h"
+#include "drivers/accgyro_l3gd20.h"
+#include "drivers/accgyro_lsm303dlhc.h"
 #include "drivers/accgyro_mma845x.h"
 #include "drivers/accgyro_mpu.h"
 #include "drivers/accgyro_mpu3050.h"
 #include "drivers/accgyro_mpu6050.h"
 #include "drivers/accgyro_mpu6500.h"
-#include "drivers/accgyro_l3gd20.h"
-#include "drivers/accgyro_lsm303dlhc.h"
 #include "drivers/accgyro_spi_icm20689.h"
 #include "drivers/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro_spi_mpu6500.h"
@@ -59,19 +59,22 @@
 
 #include "scheduler/scheduler.h"
 
-#include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
+#include "sensors/sensors.h"
 
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 
-gyro_t gyro;                      // gyro access functions
+gyro_t gyro;
+
+STATIC_UNIT_TESTED gyroDev_t gyroDev0;
+static int16_t gyroTemperature0;
 
 static int32_t gyroADC[XYZ_AXIS_COUNT];
 
-static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
+STATIC_UNIT_TESTED int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static uint16_t calibratingG = 0;
 
 static filterApplyFnPtr softLpfFilterApplyFn;
@@ -106,6 +109,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyroMovementCalibrationThreshold = 32
 );
 
+#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
 static const extiConfig_t *selectMPUIntExtiConfig(void)
 {
 #if defined(MPU_INT_EXTI)
@@ -117,8 +121,18 @@ static const extiConfig_t *selectMPUIntExtiConfig(void)
     return NULL;
 #endif
 }
+#endif
 
-static bool gyroDetect(gyroDev_t *dev)
+const mpuConfiguration_t *gyroMpuConfiguration(void)
+{
+    return &gyroDev0.mpuConfiguration;
+}
+const mpuDetectionResult_t *gyroMpuDetectionResult(void)
+{
+    return &gyroDev0.mpuDetectionResult;
+}
+
+STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 {
     gyroSensor_e gyroHardware = GYRO_DEFAULT;
 
@@ -246,34 +260,29 @@ static bool gyroDetect(gyroDev_t *dev)
         gyroHardware = GYRO_NONE;
     }
 
-    if (gyroHardware == GYRO_NONE) {
+    if (gyroHardware != GYRO_NONE) {
-        return false;
-    }
-
         detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
         sensorsSet(SENSOR_GYRO);
+    }
 
-    return true;
+
+    return gyroHardware;
 }
 
 bool gyroInit(void)
 {
     memset(&gyro, 0, sizeof(gyro));
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
-    gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
+    gyroDev0.mpuIntExtiConfig = selectMPUIntExtiConfig();
-    mpuDetect(&gyro.dev);
+    mpuDetect(&gyroDev0);
-    mpuResetFn = gyro.dev.mpuConfiguration.resetFn;
+    mpuResetFn = gyroDev0.mpuConfiguration.resetFn;
 #endif
-
+    const gyroSensor_e gyroHardware = gyroDetect(&gyroDev0);
-    if (!gyroDetect(&gyro.dev)) {
+    if (gyroHardware == GYRO_NONE) {
         return false;
     }
 
-    switch (detectedSensors[SENSOR_INDEX_GYRO]) {
+    switch (gyroHardware) {
-    default:
-        // gyro does not support 32kHz
-        gyroConfigMutable()->gyro_use_32khz = false;
-        break;
     case GYRO_MPU6500:
     case GYRO_MPU9250:
     case GYRO_ICM20689:
@@ -281,12 +290,19 @@ bool gyroInit(void)
     case GYRO_ICM20602:
         // do nothing, as gyro supports 32kHz
         break;
+    default:
+        // gyro does not support 32kHz
+        gyroConfigMutable()->gyro_use_32khz = false;
+        break;
     }
 
     // Must set gyro sample rate before initialisation
-    gyro.targetLooptime = gyroSetSampleRate(&gyro.dev, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
+    gyro.targetLooptime = gyroSetSampleRate(&gyroDev0, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
-    gyro.dev.lpf = gyroConfig()->gyro_lpf;
+    gyroDev0.lpf = gyroConfig()->gyro_lpf;
-    gyro.dev.init(&gyro.dev);
+    gyroDev0.init(&gyroDev0);
+    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
+        gyroDev0.gyroAlign = gyroConfig()->gyro_align;
+    }
     gyroInitFilters();
     return true;
 }
@@ -369,7 +385,7 @@ void gyroSetCalibrationCycles(void)
     calibratingG = gyroCalculateCalibratingCycles();
 }
 
-static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
+STATIC_UNIT_TESTED void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
 {
     static int32_t g[3];
     static stdev_t var[3];
@@ -445,27 +461,27 @@ static bool gyroUpdateISR(gyroDev_t* gyroDev)
 void gyroUpdate(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
-    if (gyro.dev.update) {
+    if (gyroDev0.update) {
         // if the gyro update function is set then return, since the gyro is read in gyroUpdateISR
         return;
     }
-    if (!gyro.dev.read(&gyro.dev)) {
+    if (!gyroDev0.read(&gyroDev0)) {
         return;
     }
-    gyro.dev.dataReady = false;
+    gyroDev0.dataReady = false;
     // move gyro data into 32-bit variables to avoid overflows in calculations
-    gyroADC[X] = gyro.dev.gyroADCRaw[X];
+    gyroADC[X] = gyroDev0.gyroADCRaw[X];
-    gyroADC[Y] = gyro.dev.gyroADCRaw[Y];
+    gyroADC[Y] = gyroDev0.gyroADCRaw[Y];
-    gyroADC[Z] = gyro.dev.gyroADCRaw[Z];
+    gyroADC[Z] = gyroDev0.gyroADCRaw[Z];
 
-    alignSensors(gyroADC, gyro.dev.gyroAlign);
+    alignSensors(gyroADC, gyroDev0.gyroAlign);
 
     const bool calibrationComplete = isGyroCalibrationComplete();
     if (calibrationComplete) {
 #if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
         // SPI-based gyro so can read and update in ISR
         if (gyroConfig()->gyro_isr_update) {
-            mpuGyroSetIsrUpdate(&gyro.dev, gyroUpdateISR);
+            mpuGyroSetIsrUpdate(&gyroDev0, gyroUpdateISR);
             return;
         }
 #endif
@@ -479,7 +495,7 @@ void gyroUpdate(void)
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         gyroADC[axis] -= gyroZero[axis];
         // scale gyro output to degrees per second
-        float gyroADCf = (float)gyroADC[axis] * gyro.dev.scale;
+        float gyroADCf = (float)gyroADC[axis] * gyroDev0.scale;
 
         // Apply LPF
         DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
@@ -493,8 +509,25 @@ void gyroUpdate(void)
     }
 
     if (!calibrationComplete) {
-        gyroADC[X] = lrintf(gyro.gyroADCf[X] / gyro.dev.scale);
+        gyroADC[X] = lrintf(gyro.gyroADCf[X] / gyroDev0.scale);
-        gyroADC[Y] = lrintf(gyro.gyroADCf[Y] / gyro.dev.scale);
+        gyroADC[Y] = lrintf(gyro.gyroADCf[Y] / gyroDev0.scale);
-        gyroADC[Z] = lrintf(gyro.gyroADCf[Z] / gyro.dev.scale);
+        gyroADC[Z] = lrintf(gyro.gyroADCf[Z] / gyroDev0.scale);
     }
 }
+
+void gyroReadTemperature(void)
+{
+    if (gyroDev0.temperature) {
+        gyroDev0.temperature(&gyroDev0, &gyroTemperature0);
+    }
+}
+
+int16_t gyroGetTemperature(void)
+{
+    return gyroTemperature0;
+}
+
+int16_t gyroRateDps(int axis)
+{
+    return lrintf(gyro.gyroADCf[axis] / gyroDev0.scale);
+}

src/main/sensors/gyro.h

@@ -18,7 +18,6 @@
 #pragma once
 
 #include "config/parameter_group.h"
-#include "drivers/accgyro.h"
 #include "common/axis.h"
 
 typedef enum {
@@ -38,7 +37,6 @@ typedef enum {
 } gyroSensor_e;
 
 typedef struct gyro_s {
-    gyroDev_t dev;
     uint32_t targetLooptime;
     float gyroADCf[XYZ_AXIS_COUNT];
 } gyro_t;
@@ -62,8 +60,13 @@ typedef struct gyroConfig_s {
 
 PG_DECLARE(gyroConfig_t, gyroConfig);
 
-void gyroSetCalibrationCycles(void);
 bool gyroInit(void);
 void gyroInitFilters(void);
 void gyroUpdate(void);
+const mpuConfiguration_t *gyroMpuConfiguration(void);
+const mpuDetectionResult_t *gyroMpuDetectionResult(void);
+void gyroSetCalibrationCycles(void);
 bool isGyroCalibrationComplete(void);
+void gyroReadTemperature(void);
+int16_t gyroGetTemperature(void);
+int16_t gyroRateDps(int axis);

src/main/sensors/initialisation.c

@@ -63,11 +63,8 @@ bool sensorsAutodetect(void)
 
     accInit(gyro.targetLooptime);
 
-    mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
 #ifdef MAG
-    if (compassDetect(&mag.dev, compassConfig()->mag_hardware)) {
     compassInit();
-    }
 #endif
 
 #ifdef BARO
@@ -80,15 +77,5 @@ bool sensorsAutodetect(void)
     }
 #endif
 
-    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyro.dev.gyroAlign = gyroConfig()->gyro_align;
-    }
-    if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
-        acc.dev.accAlign = accelerometerConfig()->acc_align;
-    }
-    if (compassConfig()->mag_align != ALIGN_DEFAULT) {
-        mag.dev.magAlign = compassConfig()->mag_align;
-    }
-
     return true;
 }

src/main/sensors/sensors.h

@@ -25,7 +25,6 @@ typedef enum {
     SENSOR_INDEX_COUNT
 } sensorIndex_e;
 
-extern int16_t telemTemperature1; //FIXME move to temp sensor...?
 extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
 
 typedef struct int16_flightDynamicsTrims_s {

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -613,7 +613,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
                     bstWrite16(acc.accSmooth[i] / scale);
                 }
                 for (i = 0; i < 3; i++) {
-                    bstWrite16(lrintf(gyro.gyroADCf[i] /gyro.dev.scale));
+                    bstWrite16(gyroRateDps(i));
                 }
                 for (i = 0; i < 3; i++) {
                     bstWrite16(mag.magADC[i]);

src/main/telemetry/frsky.c

@@ -223,7 +223,7 @@ static void sendTemperature1(void)
 #elif defined(BARO)
     serialize16((baro.baroTemperature + 50)/ 100); //Airmamaf
 #else
-    serialize16(telemTemperature1 / 10);
+    serialize16(gyroGetTemperature() / 10);
 #endif
 }
 

src/main/telemetry/ibus.c

@@ -300,7 +300,7 @@ static void dispatchMeasurementReply(ibusAddress_t address)
         #ifdef BARO
             value = (baro.baroTemperature + 5) / 10; // +5 to make integer division rounding correct
         #else
-            value = telemTemperature1 * 10;
+            value = gyroGetTemperature() * 10;
         #endif
         sendIbusMeasurement(address, value + IBUS_TEMPERATURE_OFFSET);
         break;

src/test/Makefile

@@ -675,6 +675,60 @@ $(OBJECT_DIR)/alignsensor_unittest : \
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
+$(OBJECT_DIR)/build/debug.o : \
+    $(USER_DIR)/build/debug.c \
+    $(USER_DIR)/build/debug.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/build/debug.c -o $@
+
+$(OBJECT_DIR)/drivers/gyro_sync.o : \
+    $(USER_DIR)/drivers/gyro_sync.c \
+    $(USER_DIR)/drivers/gyro_sync.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/gyro_sync.c -o $@
+
+$(OBJECT_DIR)/drivers/accgyro_fake.o : \
+    $(USER_DIR)/drivers/accgyro_fake.c \
+    $(USER_DIR)/drivers/accgyro_fake.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/accgyro_fake.c -o $@
+
+$(OBJECT_DIR)/sensors/gyro.o : \
+	$(USER_DIR)/sensors/gyro.c \
+	$(USER_DIR)/sensors/gyro.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/gyro.c -o $@
+
+$(OBJECT_DIR)/sensor_gyro_unittest.o : \
+	$(TEST_DIR)/sensor_gyro_unittest.cc \
+	$(USER_DIR)/sensors/gyro.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/sensor_gyro_unittest.cc -o $@
+
+$(OBJECT_DIR)/sensor_gyro_unittest : \
+	$(OBJECT_DIR)/build/debug.o \
+	$(OBJECT_DIR)/common/filter.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/drivers/accgyro_fake.o \
+	$(OBJECT_DIR)/drivers/gyro_sync.o \
+	$(OBJECT_DIR)/sensors/boardalignment.o \
+	$(OBJECT_DIR)/sensors/gyro.o \
+	$(OBJECT_DIR)/sensor_gyro_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
 $(OBJECT_DIR)/build/version.o : \
 	$(USER_DIR)/build/version.c \
 	$(USER_DIR)/build/version.h \

src/test/unit/platform.h

@@ -65,6 +65,11 @@ uint8_t DMA_GetFlagStatus(void *);
 void DMA_Cmd(DMA_Channel_TypeDef*, FunctionalState );
 void DMA_ClearFlag(uint32_t);
 
+typedef struct
+{
+    void* test;
+} SPI_TypeDef;
+
 typedef struct
 {
     void* test;

src/test/unit/target.h

@@ -19,6 +19,7 @@
 
 #define CMS
 #define CMS_MAX_DEVICE 4
+#define USE_FAKE_GYRO
 #define MAG
 #define BARO
 #define GPS