GYRO_x_ALIGN_YAW

[ledvinap]

use strict;
use warnings;
my ($gyro_id, $angle);
while (<>) {
if (/^#define GYRO_([12])_ALIGN CW(90|180|270)DEG$/) {
$gyro_id = $1;
$angle = $2;
print; # Print the first line
next;
}
if (defined($gyro_id) && /^#define GYRO\Q$gyro_id\E_ALIGN_YAW \Q$angle\E0$/) {
undef $gyro_id; # Skip the second line if it matches
next;
}
undef $gyro_id; # Reset if no match
print;
}

[ledvinap]

This removes simple cases. 80 _FLIP still remaining, but that is manageable manually

[haslinghuis]

• Fix mutual exclusive gyro alignment #644 should cover all

grep -r -Z -l 'GYRO_1_ALIGN ' . | xargs -0 sed -i '/GYRO_1_ALIGN_/d'
grep -r -Z -l 'GYRO_2_ALIGN ' . | xargs -0 sed -i '/GYRO_2_ALIGN_/d'

[ledvinap]

fix.pl (ugly, but does the job):

BEGIN {undef $/;}

s/(^\#define\s+GYRO_([12])_ALIGN\s+CW(90|180|270)_DEG)\n
\#define\s+GYRO_\g2_ALIGN_YAW\s+\g3[0]
/$1/mx;

s/(^\#define\s+GYRO_([12])_ALIGN\s+CW(90|180|270)_DEG_FLIP)\n
\#define\s+GYRO_\g2_ALIGN_PITCH\s+1800\n
\#define\s+GYRO_\g2_ALIGN_YAW\s+\g3[0]
/$1/mx;

then, in betaflight directory:

find ./src/config/configs/ -name "config.h" -exec perl -i"" -p ./fix.pl {} +

[ledvinap]

BEGIN {undef $/;}

s/(^\#define\s+GYRO_([12])_ALIGN\s+CW(90|180|270)_DEG\n)
\#define\s+GYRO_\g2_ALIGN_YAW\s+\g3[0]\n
(?!\#define\s+GYRO_\g2_ALIGN_)
/$1/mxg;

s/(^\#define\s+GYRO_([12])_ALIGN\s+CW(90|180|270)_DEG_FLIP\n)
\#define\s+GYRO_\g2_ALIGN_PITCH\s+1800\n
\#define\s+GYRO_\g2_ALIGN_YAW\s+\g3[0]\n
(?!\#define\s+GYRO_\g2_ALIGN_)
/$1/mxg;

s/(^\#define\s+GYRO_([12])_ALIGN\s+CW0_DEG_FLIP\n)
\#define\s+GYRO_\g2_ALIGN_PITCH\s+1800\n
(?!\#define\s+GYRO_\g2_ALIGN_)
/$

[ledvinap]

There are some files with DOS line endings (\r\n), it should be fixed eventually

[ledvinap]

OK, I think all trivial case are handled. Rest should be handled individually, based on actual target.

[haslinghuis]

@ledvinap

Roll axis (GYRO_1_ALIGN_ROLL) ??? as this define would make it custom

$ grep -rni GYRO_1_ALIGN_ROLL
configs/FLYCOLORF7_AIO/config.h:115:#define GYRO_1_ALIGN_ROLL 0
configs/TALONF4V2/config.h:109:#define GYRO_1_ALIGN_ROLL 0

[ledvinap]

@haslinghuis : I don't see in in last version

[haslinghuis]

[ledvinap]

@haslinghuis : FLYFISHRCF405 gyro2 is wrong. With current implementation, CW90_DEG is used and ALIGN_PITCH 900 ignored. But someone should check it (and all other conflicting gyro definitions).

I'd fix easy cases and enable ASSERT in accgyro. Affected targets will fail until someone fixes them

[ledvinap]

I think I fixed all trivial cases. Someone should check remaining ones.
Valid custom cases are now marked (GYRO_1_ALIGN ALIGN_CUSTOM)

find ./src/config/configs -type f -name "*.h" -exec grep --color=auto -nH --null -e GYRO_[12]_ALIGN_[RPY] \{\} +

[haslinghuis]

Thanks. Spotted an issue outside of this change:

-45 should be -450 or 3600 - 450 = 3150 ?

[ledvinap]

-45 should be -450 or 3600 - 450 = 3150 ?

IMO both should work fine, argument is normalized before use.

 { "gyro_1_align_roll", VAR_INT16  | HARDWARE_VALUE, .config.minmax = { -3600, 3600 }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 0, customAlignment.roll) },

[nerdCopter]

• approving, only skimmed over, saw some nice cleanups