bool sensorsAutodetect(void)
{
// gyro must be initialised before accelerometer
bool gyroDetected = gyroInit();
#ifdef USE_ACC
if (gyroDetected) {
accInit(gyro.targetLooptime);
}
#endif
#ifdef USE_MAG
compassInit();
#endif
#ifdef USE_BARO
baroDetect(&baro.dev, barometerConfig()->baro_hardware);
#endif
#ifdef USE_RANGEFINDER
rangefinderInit();
#endif
#ifdef USE_ADC_INTERNAL
adcInternalInit();
#endif
return gyroDetected;
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
int16_t magDeclinationFromConfig) {
memset(&acc, 0, sizeof(acc));
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)
const extiConfig_t *mpuExtiConfig = selectMPUIntExtiConfig();
detectMpu(mpuExtiConfig);
#endif
if (!detectGyro()) {
return false;
}
detectAcc(accHardwareToUse);
detectBaro(baroHardwareToUse);
// Now time to init things, acc first
if (sensors(SENSOR_ACC)) {
acc.init(&acc);
}
gyro.init(gyroLpf);
detectMag(magHardwareToUse);
reconfigureAlignment(sensorAlignmentConfig);
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (sensors(SENSOR_MAG)) {
// calculate magnetic declination
const int deg = magDeclinationFromConfig / 100;
const int min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
} else {
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 SONAR
const rangefinderType_e rangefinderType = detectRangefinder();
rangefinderInit(rangefinderType);
#endif
return true;
}
