X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_config.c;h=4a1c58b90afbd17ff0965da02ec8ca23b88e82dc;hb=c8b27410e45cc3d80ad4b896bffe70e9aec5e3aa;hp=5567587be382eca79a83155f361e2c80ac5c5340;hpb=83437b2fe304599e22d0a98b5410808bcb67dc97;p=fw%2Faltos

diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index 5567587b..4a1c58b9 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -60,7 +60,8 @@ static void
 _ao_config_put(void)
 {
 	ao_config_setup();
-	ao_config_write(&ao_config, sizeof (ao_config));
+	ao_config_erase();
+	ao_config_write(0, &ao_config, sizeof (ao_config));
 #if HAS_FLIGHT
 	ao_log_write_erase(0);
 #endif
@@ -97,7 +98,7 @@ _ao_config_get(void)
 	 * need before calling ao_storage_read here
 	 */
 	ao_config_setup();
-	ao_config_read(&ao_config, sizeof (ao_config));
+	ao_config_read(0, &ao_config, sizeof (ao_config));
 #endif
 	if (ao_config.major != AO_CONFIG_MAJOR) {
 		ao_config.major = AO_CONFIG_MAJOR;
@@ -352,9 +353,9 @@ ao_config_accel_calibrate_set(void) __reentrant
 {
 	int16_t	up, down;
 #if HAS_GYRO
-	int16_t	accel_along_up, accel_along_down;
-	int16_t	accel_across_up, accel_across_down;
-	int16_t	accel_through_up, accel_through_down;
+	int16_t	accel_along_up = 0, accel_along_down = 0;
+	int16_t	accel_across_up = 0, accel_across_down = 0;
+	int16_t	accel_through_up = 0, accel_through_down = 0;
 #endif
 	
 	ao_cmd_decimal();
@@ -389,9 +390,11 @@ ao_config_accel_calibrate_set(void) __reentrant
 	ao_config.accel_plus_g = up;
 	ao_config.accel_minus_g = down;
 #if HAS_GYRO
-	ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
-	ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
-	ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+	if (ao_cmd_lex_i == 0) {
+		ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
+		ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
+		ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+	}
 #endif
 	_ao_config_edit_finish();
 }
@@ -466,7 +469,7 @@ void
 ao_config_log_set(void) __reentrant
 {
 	uint16_t	block = (uint16_t) (ao_storage_block >> 10);
-	uint16_t	config = (uint16_t) (ao_storage_config >> 10);
+	uint16_t	log_max = (uint16_t) (ao_storage_log_max >> 10);
 
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
@@ -475,8 +478,8 @@ ao_config_log_set(void) __reentrant
 		printf("Storage must be empty before changing log size\n");
 	else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
 		printf("Flight log size must be multiple of %d kB\n", block);
-	else if (ao_cmd_lex_i > config)
-		printf("Flight log max %d kB\n", config);
+	else if (ao_cmd_lex_i > log_max)
+		printf("Flight log max %d kB\n", log_max);
 	else {
 		_ao_config_edit_start();
 		ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;