diff options
| author | Bdale Garbee <bdale@gag.com> | 2014-01-22 20:55:41 -0700 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2014-01-22 20:55:41 -0700 |
| commit | 9884ca1449167a06bd2cebc7d28353eeac592493 (patch) | |
| tree | 9fde328b3a5971c67954e669c1ba27042821fd8c /src/core/ao_config.c | |
| parent | 8e669694a60d34e2ea0f8f6b189e0bc3605d94d7 (diff) | |
| parent | 0ef0c50536e5eb6ad3455b5828983307edbab828 (diff) | |
Merge branch 'branch-1.3' into debian
Diffstat (limited to 'src/core/ao_config.c')
| -rw-r--r-- | src/core/ao_config.c | 26 |
1 files changed, 17 insertions, 9 deletions
diff --git a/src/core/ao_config.c b/src/core/ao_config.c index a30ec64a..4482f673 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -353,9 +353,9 @@ ao_config_accel_calibrate_set(void) __reentrant { int16_t up, down; #if HAS_GYRO - int16_t accel_along_up, accel_along_down; - int16_t accel_across_up, accel_across_down; - int16_t accel_through_up, accel_through_down; + int16_t accel_along_up = 0, accel_along_down = 0; + int16_t accel_across_up = 0, accel_across_down = 0; + int16_t accel_through_up = 0, accel_through_down = 0; #endif ao_cmd_decimal(); @@ -390,9 +390,11 @@ ao_config_accel_calibrate_set(void) __reentrant ao_config.accel_plus_g = up; ao_config.accel_minus_g = down; #if HAS_GYRO - ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2; - ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2; - ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2; + if (ao_cmd_lex_i == 0) { + ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2; + ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2; + ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2; + } #endif _ao_config_edit_finish(); } @@ -512,6 +514,10 @@ ao_config_pad_orientation_show(void) __reentrant printf("Pad orientation: %d\n", ao_config.pad_orientation); } +#ifndef AO_ACCEL_INVERT +#define AO_ACCEL_INVERT 0x7fff +#endif + void ao_config_pad_orientation_set(void) __reentrant { @@ -521,10 +527,10 @@ ao_config_pad_orientation_set(void) __reentrant _ao_config_edit_start(); ao_cmd_lex_i &= 1; if (ao_config.pad_orientation != ao_cmd_lex_i) { - uint16_t t; + int16_t t; t = ao_config.accel_plus_g; - ao_config.accel_plus_g = 0x7fff - ao_config.accel_minus_g; - ao_config.accel_minus_g = 0x7fff - t; + ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g; + ao_config.accel_minus_g = AO_ACCEL_INVERT - t; } ao_config.pad_orientation = ao_cmd_lex_i; _ao_config_edit_finish(); @@ -656,8 +662,10 @@ ao_config_help(void) __reentrant; static void ao_config_show(void) __reentrant; +#if HAS_EEPROM static void ao_config_save(void) __reentrant; +#endif __code struct ao_config_var ao_config_vars[] = { #if HAS_FLIGHT |