C++ (Cpp) sensorAlignmentConfigの例

コード例 #1

ファイル: initialisation.c プロジェクト: AquaSoftware/betaflight

bool sensorsAutodetect(void)
{
    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 *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(sensorSelectionConfig()->acc_hardware);
    detectBaro(sensorSelectionConfig()->baro_hardware);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init(gyroConfig()->gyro_lpf);

#ifdef MAG
    detectMag(sensorSelectionConfig()->mag_hardware);
#endif

    reconfigureAlignment(sensorAlignmentConfig());

    return true;
}

コード例 #2

ファイル: initialisation.c プロジェクト: LupinIII/cleanflight

bool sensorsAutodetect(void)
{
    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 *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }

    gyro.sampleFrequencyHz = gyroConfig()->gyro_sample_hz;

    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init(&gyro, gyroConfig()->gyro_lpf);
    gyroInit();
    // the combination of LPF and GYRO_SAMPLE_HZ may be invalid for the gyro, update the configuration to use the sample frequency that was determined for the desired LPF.
    gyroConfig()->gyro_sample_hz = gyro.sampleFrequencyHz;

    if (detectAcc(sensorSelectionConfig()->acc_hardware)) {
        acc.acc_1G = 256; // set default
        acc.init(&acc);
    }

#ifdef BARO
    detectBaro(sensorSelectionConfig()->baro_hardware);
#endif

#ifdef MAG
    if (detectMag(sensorSelectionConfig()->mag_hardware)) {
        if (!compassInit()) {
            sensorsClear(SENSOR_MAG);
        }
    }
#endif

    reconfigureAlignment(sensorAlignmentConfig());

    return true;
}

コード例 #3

ファイル: initialisation.c プロジェクト: inbilla/cleanflight

bool sensorsAutodetect(void)
{
    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 *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init(gyroConfig()->gyro_lpf);

    if (detectAcc(sensorSelectionConfig()->acc_hardware)) {
        acc.acc_1G = 256; // set default
        acc.init(&acc);
    }

#ifdef BARO
    detectBaro(sensorSelectionConfig()->baro_hardware);
#endif

#ifdef MAG
    if (detectMag(sensorSelectionConfig()->mag_hardware)) {
        if (!compassInit()) {
            sensorsClear(SENSOR_MAG);
        }
    }
#endif

    reconfigureAlignment(sensorAlignmentConfig());

    return true;
}