From 0fbcf7723d753c4cf6f39bffb2a6af547e05bc3d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 4 Jan 2012 22:37:15 -0600
Subject: [PATCH] Code to disable all gyros.  All modules now running.

---
 flight/Modules/Sensors/sensors.c           | 7 ++++---
 flight/Revolution/System/inc/pios_config.h | 2 +-
 flight/Revolution/System/pios_board.c      | 3 ++-
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index 425b73b44..43c8f8727 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -163,8 +163,6 @@ static void SensorsTask(void *parameters)
 	gyro_test = PIOS_MPU6000_Test();
 #elif defined(PIOS_INCLUDE_L3GD20)
 	gyro_test = PIOS_L3GD20_Test();
-#else
-#error No gyro defined
 #endif
 	mag_test = PIOS_HMC5883_Test();
 	
@@ -263,7 +261,10 @@ static void SensorsTask(void *parameters)
 		gyro_scaling = PIOS_L3GD20_GetScale();
 
 #else
-#error No gyro defined
+//#error No gyro defined
+		struct gyro_data {float x; float y; float z; float temperature;} gyro;
+		gyro_scaling = 0;
+		gyro_samples = 1;
 #endif
 		float accels[3] = {(float) accel_accum[1] / accel_samples, (float) accel_accum[0] / accel_samples, -(float) accel_accum[2] / accel_samples};
 
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index ff870f8cc..3e954e115 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -59,7 +59,7 @@
 #define PIOS_INCLUDE_HMC5883
 //#define PIOS_INCLUDE_MPU6000
 //#define PIOS_MPU6000_ACCEL
-#define PIOS_INCLUDE_L3GD20
+//#define PIOS_INCLUDE_L3GD20
 #define PIOS_INCLUDE_MS5611
 //#define PIOS_INCLUDE_HCSR04
 
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index 1bc6af99d..888e7319d 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -1671,6 +1671,7 @@ void PIOS_Board_Init(void) {
 	
 	PIOS_DELAY_WaitmS(500);
 
+/*
 #if defined(PIOS_INCLUDE_MPU6000)
 	PIOS_MPU6000_Attach(pios_spi_gyro_id);
 	PIOS_MPU6000_Init(&pios_mpu6000_cfg);
@@ -1680,7 +1681,7 @@ void PIOS_Board_Init(void) {
 #else
 	PIOS_Assert(0);
 #endif
-
+*/
 	PIOS_BMA180_Attach(pios_spi_accel_id);
 	PIOS_BMA180_Init(&pios_bma180_cfg);