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

2023-01-15 21:00:12 +00:00 · 2023-01-15 21:00:12 +00:00 · f9276f76e7
commit f9276f76e7
parent 13e3556e18
1 changed files with 5 additions and 1 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py
@ -91,7 +91,11 @@ def write_imu_config(f, n):
    global dma_noshare
    global dma_pri
    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('''
 # IMU setup
 SPIDEV imu%s   SPI%s DEVID1 GYRO%s_CS   MODE3   1*MHZ   8*MHZ