Some build fixes

src/network/connection.cpp

@@ -89,7 +89,7 @@ bool Connection::endPacket() {
 		MUST_TRANSFER_BOOL((innerPacketSize > 0));
 
 		m_IsBundle = false;
-		
+
 		if (m_BundlePacketInnerCount == 0) {
 			sendPacketType(PACKET_BUNDLE);
 			sendPacketNumber();
@@ -128,7 +128,7 @@ bool Connection::endBundle() {
 	MUST_TRANSFER_BOOL(m_IsBundle);
 
 	m_IsBundle = false;
-	
+
 	MUST_TRANSFER_BOOL((m_BundlePacketInnerCount > 0));
 
 	return endPacket();
@@ -540,7 +540,7 @@ void Connection::updateSensorState(std::vector<Sensor *> & sensors) {
 	}
 }
 
-void Connection::maybeRequestFeatureFlags() {	
+void Connection::maybeRequestFeatureFlags() {
 	if (m_ServerFeatures.isAvailable() || m_FeatureFlagsRequestAttempts >= 15) {
 		return;
 	}
@@ -572,6 +572,8 @@ void Connection::searchForServer() {
 			m_UDP.remotePort()
 		);
 		m_Logger.traceArray("UDP packet contents: ", m_Packet, len);
+#else
+		(void)len;
 #endif
 
 		// Handshake is different, it has 3 in the first byte, not the 4th, and data
@@ -586,7 +588,7 @@ void Connection::searchForServer() {
 			m_ServerPort = m_UDP.remotePort();
 			m_LastPacketTimestamp = millis();
 			m_Connected = true;
-			
+
 			m_FeatureFlagsRequestAttempts = 0;
 			m_ServerFeatures = ServerFeatures { };
 
@@ -704,15 +706,15 @@ void Connection::update() {
 
 			break;
 
-		case PACKET_FEATURE_FLAGS:
+		case PACKET_FEATURE_FLAGS: {
 			// Packet type (4) + Packet number (8) + flags (len - 12)
 			if (len < 13) {
 				m_Logger.warn("Invalid feature flags packet: too short");
 				break;
 			}
 
 			bool hadFlags = m_ServerFeatures.isAvailable();
-			
+
 			uint32_t flagsLength = len - 12;
 			m_ServerFeatures = ServerFeatures::from(&m_Packet[12], flagsLength);
 
@@ -725,7 +727,9 @@ void Connection::update() {
 			}
 
 			break;
-		case PACKET_SET_CONFIG_FLAG:
+		}
+
+		case PACKET_SET_CONFIG_FLAG: {
 			// Packet type (4) + Packet number (8) + sensor_id(1) + flag_id (2) + state (1)
 			if (len < 16) {
 				m_Logger.warn("Invalid sensor config flag packet: too short");
@@ -740,9 +744,12 @@ void Connection::update() {
 				std::vector<Sensor *> & sensors = sensorManager.getSensors();
 				if(sensorId < sensors.size()) {
 					Sensor * sensor = sensors[sensorId];
+					sensor->setFlag(flagId, newState);
 				}
 			}
 			sendAcknowledgeConfigChange(sensorId, flagId);
+			break;
+		}
 	}
 }
 

src/sensors/bno080sensor.cpp

@@ -62,6 +62,7 @@ void BNO080Sensor::motionSetup()
         break;
     default:
         // Ignore lack of config for BNO, byt default use from FW build
+        break;
     }
 
     if(!m_magEnabled) {
@@ -132,7 +133,7 @@ void BNO080Sensor::motionLoop()
 
                     setFusedRotationReady();
                     // Leave new quaternion if context open, it's closed later
-
+                }
         } else {
 
                 if (imu.hasNewQuat()) // New quaternion if context
@@ -142,6 +143,7 @@ void BNO080Sensor::motionLoop()
 
                     setFusedRotationReady();
                     // Leave new quaternion if context open, it's closed later
+                } // Closing new quaternion if context
         }
 
         // Continuation of the new quaternion if context, used for both 6 and 9 axis
@@ -152,9 +154,9 @@ void BNO080Sensor::motionLoop()
             setAccelerationReady();
         }
 #endif // SEND_ACCELERATION
-        } // Closing new quaternion if context
-
-        if(BNO_USE_MAGNETOMETER_CORRECTION && !m_magEnabled) {
+
+#if BNO_USE_MAGNETOMETER_CORRECTION
+        if(!m_magEnabled) {
                 if (imu.hasNewMagQuat())
                 {
                     imu.getMagQuat(magQuaternion.x, magQuaternion.y, magQuaternion.z, magQuaternion.w, magneticAccuracyEstimate, magCalibrationAccuracy);
@@ -169,6 +171,7 @@ void BNO080Sensor::motionLoop()
                     newMagData = true;
                 }
         }
+#endif
 
         if (imu.getTapDetected())
         {
@@ -203,7 +206,8 @@ void BNO080Sensor::motionLoop()
     }
 }
 
-SensorStatus BNO080Sensor::getSensorState() {
+SensorStatus BNO080Sensor::getSensorState()
+{
     return lastReset > 0 ? SensorStatus::SENSOR_ERROR : isWorking() ? SensorStatus::SENSOR_OK : SensorStatus::SENSOR_OFFLINE;
 }
 
@@ -247,11 +251,11 @@ void BNO080Sensor::sendData()
     }
 }
 
-void BNO080Sensor::setFlag(uint16_t flagId, bool state) {
+void BNO080Sensor::setFlag(uint16_t flagId, bool state)
+{
     if(flagId == FLAG_SENSOR_BNO0XX_MAG_ENABLED) {
         m_Calibration.magEnabled = state;
         m_magEnabled = state;
-        configuration.setCalibration(sensorId, m_Calibration);
         if(state) {
             if ((sensorType == IMU_BNO085 || sensorType == IMU_BNO086) && BNO_USE_ARVR_STABILIZATION) {
                 imu.enableARVRStabilizedRotationVector(10);