iNavFlight · DzikuVx · May 8, 2022 · May 7, 2022 · May 7, 2022
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -212,16 +212,6 @@ ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't hav
 
 ---
 
-### align_acc
-
-When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
-
-| Default | Min | Max |
-| --- | --- | --- |
-| DEFAULT |  |  |
-
----
-
 ### align_board_pitch
 
 Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
@@ -252,16 +242,6 @@ Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it side
 
 ---
 
-### align_gyro
-
-When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
-
-| Default | Min | Max |
-| --- | --- | --- |
-| DEFAULT |  |  |
-
----
-
 ### align_mag
 
 When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1154,8 +1154,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_SENSOR_ALIGNMENT:
-        sbufWriteU8(dst, gyroConfig()->gyro_align);
-        sbufWriteU8(dst, accelerometerConfig()->acc_align);
+        sbufWriteU8(dst, 0); // was gyroConfig()->gyro_align
+        sbufWriteU8(dst, 0); // was accelerometerConfig()->acc_align
 #ifdef USE_MAG
         sbufWriteU8(dst, compassConfig()->mag_align);
 #else
@@ -2061,8 +2061,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_SENSOR_ALIGNMENT:
         if (dataSize == 4) {
-            gyroConfigMutable()->gyro_align = sbufReadU8(src);
-            accelerometerConfigMutable()->acc_align = sbufReadU8(src);
+            sbufReadU8(src); // was gyroConfigMutable()->gyro_align
+            sbufReadU8(src); // was accelerometerConfigMutable()->acc_align
 #ifdef USE_MAG
             compassConfigMutable()->mag_align = sbufReadU8(src);
 #else

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -216,12 +216,6 @@ groups:
         description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible."
         default_value: 1000
         max: 9000
-      - name: align_gyro
-        description: "When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP."
-        default_value: "DEFAULT"
-        field: gyro_align
-        type: uint8_t
-        table: alignment
       - name: gyro_hardware_lpf
         description: "Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first."
         default_value: "256HZ"
@@ -386,12 +380,6 @@ groups:
         min: 1
         max: 255
         default_value: 1
-      - name: align_acc
-        description: "When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP."
-        default_value: "DEFAULT"
-        field: acc_align
-        type: uint8_t
-        table: alignment
       - name: acc_hardware
         description: "Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
         default_value: "AUTO"

diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
@@ -84,12 +84,11 @@ static EXTENDED_FASTRAM pt1Filter_t accVibeFilter[XYZ_AXIS_COUNT];
 static EXTENDED_FASTRAM filterApplyFnPtr accNotchFilterApplyFn;
 static EXTENDED_FASTRAM void *accNotchFilter[XYZ_AXIS_COUNT];
 
-PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 4);
+PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 5);
 
 void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
 {
     RESET_CONFIG_2(accelerometerConfig_t, instance,
-        .acc_align = SETTING_ALIGN_ACC_DEFAULT,
         .acc_hardware = SETTING_ACC_HARDWARE_DEFAULT,
         .acc_lpf_hz = SETTING_ACC_LPF_HZ_DEFAULT,
         .acc_notch_hz = SETTING_ACC_NOTCH_HZ_DEFAULT,
@@ -291,11 +290,6 @@ bool accInit(uint32_t targetLooptime)
         acc.extremes[axis].max = -100;
     }
 
-    // At this poinrt acc.dev.accAlign was set up by the driver from the busDev record
-    // If configuration says different - override
-    if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
-        acc.dev.accAlign = accelerometerConfig()->acc_align;
-    }
     return true;
 }
 

diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
@@ -67,7 +67,6 @@ typedef struct acc_s {
 extern acc_t acc;
 
 typedef struct accelerometerConfig_s {
-    sensor_align_e acc_align;               // acc alignment
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
     flightDynamicsTrims_t accZero;          // Accelerometer offset

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -97,13 +97,12 @@ EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
 
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 4);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
     .gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT,
     .gyro_anti_aliasing_lpf_type = SETTING_GYRO_ANTI_ALIASING_LPF_TYPE_DEFAULT,
-    .gyro_align = SETTING_ALIGN_GYRO_DEFAULT,
     .gyroMovementCalibrationThreshold = SETTING_MORON_THRESHOLD_DEFAULT,
     .looptime = SETTING_LOOPTIME_DEFAULT,
 #ifdef USE_DUAL_GYRO
@@ -304,13 +303,7 @@ bool gyroInit(void)
 
     // initFn will initialize sampleRateIntervalUs to actual gyro sampling rate (if driver supports it). Calculate target looptime using that value
     gyro.targetLooptime = gyroDev[0].sampleRateIntervalUs;
-
-    // At this poinrt gyroDev[0].gyroAlign was set up by the driver from the busDev record
-    // If configuration says different - override
-    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyroDev[0].gyroAlign = gyroConfig()->gyro_align;
-    }
-
+
     gyroInitFilters();
 
 #ifdef USE_DYNAMIC_FILTERS

diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
@@ -53,7 +53,6 @@ typedef struct gyro_s {
 extern gyro_t gyro;
 
 typedef struct gyroConfig_s {
-    sensor_align_e gyro_align;              // gyro alignment
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
     uint16_t looptime;                      // imu loop time in us
     uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.

diff --git a/src/main/target/BLUEJAYF4/CMakeLists.txt b/src/main/target/BLUEJAYF4/CMakeLists.txt
@@ -1 +1 @@
-target_stm32f405xg(BLUEJAYF4)
+target_stm32f405xg(BLUEJAYF4 SKIP_RELEASES)
diff --git a/src/main/target/BLUEJAYF4/config.c b/src/main/target/BLUEJAYF4/config.c
@@ -27,8 +27,4 @@
 // alternative defaults settings for BlueJayF4 targets
 void targetConfiguration(void)
 {
-    if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
-        gyroConfigMutable()->gyro_align = CW180_DEG;
-        accelerometerConfigMutable()->acc_align  = CW180_DEG;
-    }
 }
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		target_stm32f405xg(BLUEJAYF4)
		target_stm32f405xg(BLUEJAYF4 SKIP_RELEASES)