From aac13914f9e631c5ff56caa637d29a333480c5d2 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Mon, 21 Sep 2015 14:16:21 +0100
Subject: [PATCH] LPF setting is not needed to detect the gyro sensor, only
 when it's initialised; now the lpf setting is passed to gyroInit().

This saves a bit of code size and ram as well as making the code
cleaner.
---
 src/main/drivers/accgyro.h             |  2 +-
 src/main/drivers/accgyro_l3g4200d.c    | 23 ++++++++++---------
 src/main/drivers/accgyro_l3g4200d.h    |  2 +-
 src/main/drivers/accgyro_l3gd20.c      |  8 +++----
 src/main/drivers/accgyro_l3gd20.h      |  2 +-
 src/main/drivers/accgyro_mpu.c         | 10 ++++-----
 src/main/drivers/accgyro_mpu.h         |  4 +++-
 src/main/drivers/accgyro_mpu3050.c     | 13 +++++------
 src/main/drivers/accgyro_mpu3050.h     |  3 +--
 src/main/drivers/accgyro_mpu6050.c     | 14 ++++++------
 src/main/drivers/accgyro_mpu6050.h     |  2 +-
 src/main/drivers/accgyro_mpu6500.c     | 13 ++++-------
 src/main/drivers/accgyro_mpu6500.h     |  4 ++--
 src/main/drivers/accgyro_spi_mpu6000.c |  9 ++++----
 src/main/drivers/accgyro_spi_mpu6000.h |  2 +-
 src/main/drivers/accgyro_spi_mpu6500.c |  7 +-----
 src/main/drivers/accgyro_spi_mpu6500.h |  2 +-
 src/main/drivers/sensor.h              |  1 +
 src/main/flight/mixer.h                |  7 ++++--
 src/main/sensors/initialisation.c      | 40 ++++++++++++++++++++--------------
 20 files changed, 83 insertions(+), 85 deletions(-)

diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h
index 8ebbe3414..07157cbed 100644
--- a/src/main/drivers/accgyro.h
+++ b/src/main/drivers/accgyro.h
@@ -20,7 +20,7 @@
 extern uint16_t acc_1G; // FIXME move into acc_t
 
 typedef struct gyro_s {
-    sensorInitFuncPtr init;                                 // initialize function
+    sensorGyroInitFuncPtr init;                             // initialize function
     sensorReadFuncPtr read;                                 // read 3 axis data function
     sensorReadFuncPtr temperature;                          // read temperature if available
     float scale;                                            // scalefactor
diff --git a/src/main/drivers/accgyro_l3g4200d.c b/src/main/drivers/accgyro_l3g4200d.c
index 82bd43e76..f4814bc67 100644
--- a/src/main/drivers/accgyro_l3g4200d.c
+++ b/src/main/drivers/accgyro_l3g4200d.c
@@ -54,12 +54,10 @@
 #define L3G4200D_DLPF_78HZ       0x80
 #define L3G4200D_DLPF_93HZ       0xC0
 
-static uint8_t mpuLowPassFilter = L3G4200D_DLPF_32HZ;
-
-static void l3g4200dInit(void);
+static void l3g4200dInit(uint16_t lpf);
 static bool l3g4200dRead(int16_t *gyroADC);
 
-bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf)
+bool l3g4200dDetect(gyro_t *gyro)
 {
     uint8_t deviceid;
 
@@ -75,7 +73,15 @@ bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf)
     // 14.2857dps/lsb scalefactor
     gyro->scale = 1.0f / 14.2857f;
 
-    // default LPF is set to 32Hz
+    return true;
+}
+
+static void l3g4200dInit(uint16_t lpf)
+{
+    bool ack;
+
+    uint8_t mpuLowPassFilter = L3G4200D_DLPF_32HZ;
+
     switch (lpf) {
         default:
             case 32:
@@ -92,13 +98,6 @@ bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf)
             break;
     }
 
-    return true;
-}
-
-static void l3g4200dInit(void)
-{
-    bool ack;
-
     delay(100);
 
     ack = i2cWrite(L3G4200D_ADDRESS, L3G4200D_CTRL_REG4, L3G4200D_FS_SEL_2000DPS);
diff --git a/src/main/drivers/accgyro_l3g4200d.h b/src/main/drivers/accgyro_l3g4200d.h
index 8cbd51593..40c05f6e4 100644
--- a/src/main/drivers/accgyro_l3g4200d.h
+++ b/src/main/drivers/accgyro_l3g4200d.h
@@ -17,4 +17,4 @@
 
 #pragma once
 
-bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf);
+bool l3g4200dDetect(gyro_t *gyro);
diff --git a/src/main/drivers/accgyro_l3gd20.c b/src/main/drivers/accgyro_l3gd20.c
index fd56d2512..6cc0b9ae9 100644
--- a/src/main/drivers/accgyro_l3gd20.c
+++ b/src/main/drivers/accgyro_l3gd20.c
@@ -86,8 +86,10 @@ static void l3gd20SpiInit(SPI_TypeDef *SPIx)
     spiSetDivisor(L3GD20_SPI, SPI_9MHZ_CLOCK_DIVIDER);
 }
 
-void l3gd20GyroInit(void)
+void l3gd20GyroInit(uint16_t lpf)
 {
+    UNUSED(lpf); // FIXME use it!
+
     l3gd20SpiInit(L3GD20_SPI);
 
     GPIO_ResetBits(L3GD20_CS_GPIO, L3GD20_CS_PIN);
@@ -150,10 +152,8 @@ static bool l3gd20GyroRead(int16_t *gyroADC)
 // Page 9 in datasheet, So - Sensitivity, Full Scale = 2000, 70 mdps/digit
 #define L3GD20_GYRO_SCALE_FACTOR  0.07f
 
-bool l3gd20Detect(gyro_t *gyro, uint16_t lpf)
+bool l3gd20Detect(gyro_t *gyro)
 {
-    UNUSED(lpf);
-
     gyro->init = l3gd20GyroInit;
     gyro->read = l3gd20GyroRead;
 
diff --git a/src/main/drivers/accgyro_l3gd20.h b/src/main/drivers/accgyro_l3gd20.h
index 0e1766dd5..11b1241e9 100644
--- a/src/main/drivers/accgyro_l3gd20.h
+++ b/src/main/drivers/accgyro_l3gd20.h
@@ -17,4 +17,4 @@
 
 #pragma once
 
-bool l3gd20Detect(gyro_t *gyro, uint16_t lpf);
+bool l3gd20Detect(gyro_t *gyro);
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 1c61e00ba..d381540fc 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -59,10 +59,6 @@ mpuDetectionResult_t mpuDetectionResult;
 mpuConfiguration_t mpuConfiguration;
 static const extiConfig_t *mpuIntExtiConfig = NULL;
 
-// FIXME move into mpuConfiguration
-uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
-
-
 #define MPU_ADDRESS             0x68
 
 // MPU6050
@@ -299,8 +295,10 @@ void mpuIntExtiInit(void)
     mpuExtiInitDone = true;
 }
 
-void configureMPULPF(uint16_t lpf)
+uint8_t determineMPULPF(uint16_t lpf)
 {
+    uint8_t mpuLowPassFilter;
+
     if (lpf == 256)
         mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
     else if (lpf >= 188)
@@ -317,6 +315,8 @@ void configureMPULPF(uint16_t lpf)
         mpuLowPassFilter = INV_FILTER_5HZ;
     else
         mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
+
+    return mpuLowPassFilter;
 }
 
 static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data)
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 5808e65ec..c7af60b3e 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -78,7 +78,9 @@ typedef struct mpuDetectionResult_s {
     mpu6050Resolution_e resolution;
 } mpuDetectionResult_t;
 
-void configureMPULPF(uint16_t lpf);
+extern mpuDetectionResult_t mpuDetectionResult;
+
+uint8_t determineMPULPF(uint16_t lpf);
 void configureMPUDataReadyInterruptHandling(void);
 void mpuIntExtiInit(void);
 bool mpuAccRead(int16_t *accData);
diff --git a/src/main/drivers/accgyro_mpu3050.c b/src/main/drivers/accgyro_mpu3050.c
index 4a621109c..c0970cd39 100644
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@@ -31,9 +31,6 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu3050.h"
 
-extern mpuDetectionResult_t mpuDetectionResult;
-extern uint8_t mpuLowPassFilter;
-
 // MPU3050, Standard address 0x68
 #define MPU3050_ADDRESS         0x68
 
@@ -49,10 +46,10 @@ extern uint8_t mpuLowPassFilter;
 #define MPU3050_USER_RESET      0x01
 #define MPU3050_CLK_SEL_PLL_GX  0x01
 
-void mpu3050Init(void);
+static void mpu3050Init(uint16_t lpf);
 static bool mpu3050ReadTemp(int16_t *tempData);
 
-bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
+bool mpu3050Detect(gyro_t *gyro)
 {
     if (mpuDetectionResult.sensor != MPU_3050) {
         return false;
@@ -64,15 +61,15 @@ bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
 
-    configureMPULPF(lpf);
-
     return true;
 }
 
-void mpu3050Init(void)
+static void mpu3050Init(uint16_t lpf)
 {
     bool ack;
 
+    uint8_t mpuLowPassFilter = determineMPULPF(lpf);
+
     delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
 
     ack = mpuConfiguration.write(MPU3050_SMPLRT_DIV, 0);
diff --git a/src/main/drivers/accgyro_mpu3050.h b/src/main/drivers/accgyro_mpu3050.h
index c2f125be5..fd4c28e10 100644
--- a/src/main/drivers/accgyro_mpu3050.h
+++ b/src/main/drivers/accgyro_mpu3050.h
@@ -26,5 +26,4 @@
 #define MPU3050_USER_CTRL       0x3D
 #define MPU3050_PWR_MGM         0x3E
 
-void mpu3050Init(void);
-bool mpu3050Detect(gyro_t *gyro, uint16_t lpf);
+bool mpu3050Detect(gyro_t *gyro);
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index c69e9f105..c235fe5fb 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -37,7 +37,6 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6050.h"
 
-extern mpuDetectionResult_t mpuDetectionResult;
 extern uint8_t mpuLowPassFilter;
 
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
@@ -146,7 +145,7 @@ extern uint8_t mpuLowPassFilter;
 #define MPU6050_SMPLRT_DIV      0       // 8000Hz
 
 static void mpu6050AccInit(void);
-static void mpu6050GyroInit(void);
+static void mpu6050GyroInit(uint16_t lpf);
 
 bool mpu6050AccDetect(acc_t *acc)
 {
@@ -161,7 +160,7 @@ bool mpu6050AccDetect(acc_t *acc)
     return true;
 }
 
-bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf)
+bool mpu6050GyroDetect(gyro_t *gyro)
 {
     if (mpuDetectionResult.sensor != MPU_60x0) {
         return false;
@@ -172,8 +171,6 @@ bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf)
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
 
-    configureMPULPF(lpf);
-
     return true;
 }
 
@@ -191,11 +188,14 @@ static void mpu6050AccInit(void)
     }
 }
 
-static void mpu6050GyroInit(void)
+static void mpu6050GyroInit(uint16_t lpf)
 {
+    bool ack;
+
     mpuIntExtiInit();
 
-    bool ack;
+    uint8_t mpuLowPassFilter = determineMPULPF(lpf);
+
     ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(100);
     ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
diff --git a/src/main/drivers/accgyro_mpu6050.h b/src/main/drivers/accgyro_mpu6050.h
index 83c1caab8..d8649a3c6 100644
--- a/src/main/drivers/accgyro_mpu6050.h
+++ b/src/main/drivers/accgyro_mpu6050.h
@@ -18,4 +18,4 @@
 #pragma once
 
 bool mpu6050AccDetect(acc_t *acc);
-bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf);
+bool mpu6050GyroDetect(gyro_t *gyro);
diff --git a/src/main/drivers/accgyro_mpu6500.c b/src/main/drivers/accgyro_mpu6500.c
index a0d114a9e..e614a1856 100644
--- a/src/main/drivers/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro_mpu6500.c
@@ -33,13 +33,8 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6500.h"
 
-extern mpuDetectionResult_t mpuDetectionResult;
-extern uint8_t mpuLowPassFilter;
-
-
 extern uint16_t acc_1G;
 
-
 bool mpu6500AccDetect(acc_t *acc)
 {
     if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
@@ -52,7 +47,7 @@ bool mpu6500AccDetect(acc_t *acc)
     return true;
 }
 
-bool mpu6500GyroDetect(gyro_t *gyro, uint16_t lpf)
+bool mpu6500GyroDetect(gyro_t *gyro)
 {
     if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
         return false;
@@ -64,8 +59,6 @@ bool mpu6500GyroDetect(gyro_t *gyro, uint16_t lpf)
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
 
-    configureMPULPF(lpf);
-
     return true;
 }
 
@@ -74,7 +67,7 @@ void mpu6500AccInit(void)
     acc_1G = 512 * 8;
 }
 
-void mpu6500GyroInit(void)
+void mpu6500GyroInit(uint16_t lpf)
 {
 #ifdef NAZE
     // FIXME target specific code in driver code.
@@ -89,6 +82,8 @@ void mpu6500GyroInit(void)
     }
 #endif
 
+    uint8_t mpuLowPassFilter = determineMPULPF(lpf);
+
     mpuConfiguration.write(MPU6500_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
     delay(100);
     mpuConfiguration.write(MPU6500_RA_SIGNAL_PATH_RST, 0x07);
diff --git a/src/main/drivers/accgyro_mpu6500.h b/src/main/drivers/accgyro_mpu6500.h
index 3a8a389c8..4c8455ff6 100644
--- a/src/main/drivers/accgyro_mpu6500.h
+++ b/src/main/drivers/accgyro_mpu6500.h
@@ -36,7 +36,7 @@
 #pragma once
 
 bool mpu6500AccDetect(acc_t *acc);
-bool mpu6500GyroDetect(gyro_t *gyro, uint16_t lpf);
+bool mpu6500GyroDetect(gyro_t *gyro);
 
 void mpu6500AccInit(void);
-void mpu6500GyroInit(void);
+void mpu6500GyroInit(uint16_t lpf);
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index e71e35014..177b646e7 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -43,7 +43,6 @@
 
 static void mpu6000AccAndGyroInit(void);
 
-extern mpuDetectionResult_t mpuDetectionResult;
 extern uint8_t mpuLowPassFilter;
 
 static bool mpuSpi6000InitDone = false;
@@ -121,8 +120,10 @@ bool mpu6000ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
     return true;
 }
 
-void mpu6000SpiGyroInit(void)
+void mpu6000SpiGyroInit(uint16_t lpf)
 {
+    uint8_t mpuLowPassFilter = determineMPULPF(lpf);
+
     mpu6000AccAndGyroInit();
 
     spiResetErrorCounter(MPU6000_SPI_INSTANCE);
@@ -249,7 +250,7 @@ bool mpu6000SpiAccDetect(acc_t *acc)
     return true;
 }
 
-bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
+bool mpu6000SpiGyroDetect(gyro_t *gyro)
 {
     if (mpuDetectionResult.sensor != MPU_60x0_SPI) {
         return false;
@@ -261,7 +262,5 @@ bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
 
-    configureMPULPF(lpf);
-
     return true;
 }
diff --git a/src/main/drivers/accgyro_spi_mpu6000.h b/src/main/drivers/accgyro_spi_mpu6000.h
index 67618d8f8..ecadc23c7 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.h
+++ b/src/main/drivers/accgyro_spi_mpu6000.h
@@ -47,7 +47,7 @@
 bool mpu6000SpiDetect(void);
 
 bool mpu6000SpiAccDetect(acc_t *acc);
-bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf);
+bool mpu6000SpiGyroDetect(gyro_t *gyro);
 
 bool mpu6000WriteRegister(uint8_t reg, uint8_t data);
 bool mpu6000ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index 6eb7864b5..faafd69a5 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -38,9 +38,6 @@
 #define DISABLE_MPU6500       GPIO_SetBits(MPU6500_CS_GPIO,   MPU6500_CS_PIN)
 #define ENABLE_MPU6500        GPIO_ResetBits(MPU6500_CS_GPIO, MPU6500_CS_PIN)
 
-extern mpuDetectionResult_t mpuDetectionResult;
-extern uint8_t mpuLowPassFilter;
-
 extern uint16_t acc_1G;
 
 bool mpu6500WriteRegister(uint8_t reg, uint8_t data)
@@ -128,7 +125,7 @@ bool mpu6500SpiAccDetect(acc_t *acc)
     return true;
 }
 
-bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
+bool mpu6500SpiGyroDetect(gyro_t *gyro)
 {
     if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
         return false;
@@ -140,8 +137,6 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
 
-    configureMPULPF(lpf);
-
     return true;
 }
 
diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h
index 7c1c6e88f..967f65cd4 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro_spi_mpu6500.h
@@ -38,7 +38,7 @@
 bool mpu6500SpiDetect(void);
 
 bool mpu6500SpiAccDetect(acc_t *acc);
-bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf);
+bool mpu6500SpiGyroDetect(gyro_t *gyro);
 
 bool mpu6500WriteRegister(uint8_t reg, uint8_t data);
 bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
diff --git a/src/main/drivers/sensor.h b/src/main/drivers/sensor.h
index e2e30b779..ff0327f14 100644
--- a/src/main/drivers/sensor.h
+++ b/src/main/drivers/sensor.h
@@ -19,3 +19,4 @@
 
 typedef void (*sensorInitFuncPtr)(void);                    // sensor init prototype
 typedef bool (*sensorReadFuncPtr)(int16_t *data);           // sensor read and align prototype
+typedef void (*sensorGyroInitFuncPtr)(uint16_t lpf);         // gyro sensor init prototype
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 026e7d335..07f31c4cf 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -194,16 +194,19 @@ void filterServos(void);
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
+struct escAndServoConfig_s;
+struct rxConfig_s;
+
 void mixerUseConfigs(
 #ifdef USE_SERVOS
         servoParam_t *servoConfToUse,
         struct gimbalConfig_s *gimbalConfigToUse,
 #endif
         flight3DConfig_t *flight3DConfigToUse,
-		struct escAndServoConfig_s *escAndServoConfigToUse,
+        struct escAndServoConfig_s *escAndServoConfigToUse,
         mixerConfig_t *mixerConfigToUse,
         airplaneConfig_t *airplaneConfigToUse,
-		struct rxConfig_s *rxConfigToUse);
+        struct rxConfig_s *rxConfigToUse);
 
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 4edc5d70c..4e0dd330e 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -128,19 +128,25 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 }
 
 #ifdef USE_FAKE_GYRO
-static void fakeGyroInit(void) {}
-static bool fakeGyroRead(int16_t *gyroADC) {
+static void fakeGyroInit(uint16_t lpf)
+{
+    UNUSED(lpf);
+}
+
+static bool fakeGyroRead(int16_t *gyroADC)
+{
     memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
     return true;
 }
-static bool fakeGyroReadTemp(int16_t *tempData) {
+
+static bool fakeGyroReadTemp(int16_t *tempData)
+{
     UNUSED(tempData);
     return true;
 }
 
-bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
+bool fakeGyroDetect(gyro_t *gyro)
 {
-    UNUSED(lpf);
     gyro->init = fakeGyroInit;
     gyro->read = fakeGyroRead;
     gyro->temperature = fakeGyroReadTemp;
@@ -164,7 +170,7 @@ bool fakeAccDetect(acc_t *acc)
 }
 #endif
 
-bool detectGyro(uint16_t gyroLpf)
+bool detectGyro(void)
 {
     gyroSensor_e gyroHardware = GYRO_DEFAULT;
 
@@ -175,7 +181,7 @@ bool detectGyro(uint16_t gyroLpf)
             ; // fallthrough
         case GYRO_MPU6050:
 #ifdef USE_GYRO_MPU6050
-            if (mpu6050GyroDetect(&gyro, gyroLpf)) {
+            if (mpu6050GyroDetect(&gyro)) {
 #ifdef GYRO_MPU6050_ALIGN
                 gyroHardware = GYRO_MPU6050;
                 gyroAlign = GYRO_MPU6050_ALIGN;
@@ -186,7 +192,7 @@ bool detectGyro(uint16_t gyroLpf)
             ; // fallthrough
         case GYRO_L3G4200D:
 #ifdef USE_GYRO_L3G4200D
-            if (l3g4200dDetect(&gyro, gyroLpf)) {
+            if (l3g4200dDetect(&gyro)) {
 #ifdef GYRO_L3G4200D_ALIGN
                 gyroHardware = GYRO_L3G4200D;
                 gyroAlign = GYRO_L3G4200D_ALIGN;
@@ -198,7 +204,7 @@ bool detectGyro(uint16_t gyroLpf)
 
         case GYRO_MPU3050:
 #ifdef USE_GYRO_MPU3050
-            if (mpu3050Detect(&gyro, gyroLpf)) {
+            if (mpu3050Detect(&gyro)) {
 #ifdef GYRO_MPU3050_ALIGN
                 gyroHardware = GYRO_MPU3050;
                 gyroAlign = GYRO_MPU3050_ALIGN;
@@ -210,7 +216,7 @@ bool detectGyro(uint16_t gyroLpf)
 
         case GYRO_L3GD20:
 #ifdef USE_GYRO_L3GD20
-            if (l3gd20Detect(&gyro, gyroLpf)) {
+            if (l3gd20Detect(&gyro)) {
 #ifdef GYRO_L3GD20_ALIGN
                 gyroHardware = GYRO_L3GD20;
                 gyroAlign = GYRO_L3GD20_ALIGN;
@@ -222,7 +228,7 @@ bool detectGyro(uint16_t gyroLpf)
 
         case GYRO_MPU6000:
 #ifdef USE_GYRO_SPI_MPU6000
-            if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
+            if (mpu6000SpiGyroDetect(&gyro)) {
 #ifdef GYRO_MPU6000_ALIGN
                 gyroHardware = GYRO_MPU6000;
                 gyroAlign = GYRO_MPU6000_ALIGN;
@@ -237,7 +243,7 @@ bool detectGyro(uint16_t gyroLpf)
 #ifdef USE_HARDWARE_REVISION_DETECTION
 		  spiBusInit();
 #endif
-            if (mpu6500GyroDetect(&gyro, gyroLpf) || mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
+            if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro)) {
 #ifdef GYRO_MPU6500_ALIGN
                 gyroHardware = GYRO_MPU6500;
                 gyroAlign = GYRO_MPU6500_ALIGN;
@@ -249,7 +255,7 @@ bool detectGyro(uint16_t gyroLpf)
 
         case GYRO_FAKE:
 #ifdef USE_FAKE_GYRO
-            if (fakeGyroDetect(&gyro, gyroLpf)) {
+            if (fakeGyroDetect(&gyro)) {
                 gyroHardware = GYRO_FAKE;
                 break;
             }
@@ -403,7 +409,9 @@ retry:
 
 static void detectBaro(baroSensor_e baroHardwareToUse)
 {
-#ifdef BARO
+#ifndef BARO
+    UNUSED(baroHardwareToUse);
+#else
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
 
     baroSensor_e baroHardware = baroHardwareToUse;
@@ -603,7 +611,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
     UNUSED(mpuDetectionResult);
 #endif
 
-    if (!detectGyro(gyroLpf)) {
+    if (!detectGyro()) {
         return false;
     }
     detectAcc(accHardwareToUse);
@@ -614,7 +622,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
     if (sensors(SENSOR_ACC))
         acc.init();
     // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
-    gyro.init();
+    gyro.init(gyroLpf);
 
     detectMag(magHardwareToUse);
 
-- 
2.11.4.GIT