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+:10C21000691019612A0C104A083039602A1E4549F4 +:10C2200010396099102940AA081019611A0C1013CE +:10C2300094B81B0888041AAF041AA3040144B94532 +:10C2400084A24A04380C0102030406070809020408 +:08C25000062329106914C10046 :04000005080000ED02 :00000001FF diff --git a/src/cli.c b/src/cli.c index 998f78b5a..48e91314b 100644 --- a/src/cli.c +++ b/src/cli.c @@ -139,6 +139,15 @@ const clivalue_t valueTable[] = { { "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 }, { "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 }, { "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 }, + { "align_gyro_x", VAR_INT8, &cfg.align[ALIGN_GYRO][0], -3, 3 }, + { "align_gyro_y", VAR_INT8, &cfg.align[ALIGN_GYRO][1], -3, 3 }, + { "align_gyro_z", VAR_INT8, &cfg.align[ALIGN_GYRO][2], -3, 3 }, + { "align_acc_x", VAR_INT8, &cfg.align[ALIGN_ACCEL][0], -3, 3 }, + { "align_acc_y", VAR_INT8, &cfg.align[ALIGN_ACCEL][1], -3, 3 }, + { "align_acc_z", VAR_INT8, &cfg.align[ALIGN_ACCEL][2], -3, 3 }, + { "align_mag_x", VAR_INT8, &cfg.align[ALIGN_MAG][0], -3, 3 }, + { "align_mag_y", VAR_INT8, &cfg.align[ALIGN_MAG][1], -3, 3 }, + { "align_mag_z", VAR_INT8, &cfg.align[ALIGN_MAG][2], -3, 3 }, { "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 }, { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 }, { "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 }, diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c index d5b6383d0..e7c644df9 100644 --- a/src/drv_mpu6050.c +++ b/src/drv_mpu6050.c @@ -160,8 +160,7 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale) // The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0’s 7-bit I2C address. // The least significant bit of the MPU-60X0’s I2C address is determined by the value of the AD0 pin. (we know that already). // But here's the best part: The value of the AD0 pin is not reflected in this register. - sig &= 0x7e; - if (sig != MPU6050_ADDRESS) + if (sig != (MPU6050_ADDRESS & 0x7e)) return false; // get chip revision + fake it if needed