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AP_HAL_ChibiOS: cope with sensor alignment not being set in betaflight config

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Andy Piper 2023-01-15 21:00:12 +00:00 committed by Andrew Tridgell
parent 13e3556e18
commit f9276f76e7
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py
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@ -91,7 +91,11 @@ def write_imu_config(f, n):
global dma_noshare global dma_noshare
global dma_pri global dma_pri
bus = settings['gyro_' + n + '_spibus'] bus = settings['gyro_' + n + '_spibus']
align = settings['gyro_' + n + '_sensor_align'] sensor_align = 'gyro_' + n + '_sensor_align'
if sensor_align in settings:
align = settings[sensor_align]
else:
align = 'CW0'
f.write(''' f.write('''
# IMU setup # IMU setup
SPIDEV imu%s SPI%s DEVID1 GYRO%s_CS MODE3 1*MHZ 8*MHZ SPIDEV imu%s SPI%s DEVID1 GYRO%s_CS MODE3 1*MHZ 8*MHZ