void sensorsInit(void)
{
zeroSensorAccumulators();
// TODO allow user to select hardware if there are multiple choices
if(mpu6050Detect(&gyro, &accel, cfg.mpu6050Scale)) {
sensorsSet(SENSOR_ACC);
} else if(!mpu3050Detect(&gyro)) {
failureMode(3);
}
if(adxl345Detect(&accel)) {
sensorsSet(SENSOR_ACC);
}
// At the moment we will do this after mpu6050 and overrride mpu6050 accel if detected
if(mma8452Detect(&accel)) {
sensorsSet(SENSOR_ACC);
}
gyro.init();
if(sensorsGet(SENSOR_ACC))
accel.init();
if(hmc5883Detect(&mag)) {
mag.init();
sensorsSet(SENSOR_MAG);
}
#ifdef SONAR
if(feature(FEATURE_PPM);) {
void Mag_init(void)
{
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
LED1_ON;
mag.init(mcfg.mag_align);
LED1_OFF;
magInit = 1;
}
void compassInit(void)
{
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
LED1_ON;
mag.init();
LED1_OFF;
magInit = 1;
}