From 33580ef3a7ff92884bf91f8d1387a57349c98c0e Mon Sep 17 00:00:00 2001
From: Eiren Rain <eirenliel@users.noreply.github.com>
Date: Fri, 8 Mar 2024 15:41:59 +0100
Subject: [PATCH] Some build fixes

---
 src/network/connection.cpp   |  2 ++
 src/sensors/bno080sensor.cpp | 18 +++++++++++-------
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/src/network/connection.cpp b/src/network/connection.cpp
index a502fd416..52929da34 100644
--- a/src/network/connection.cpp
+++ b/src/network/connection.cpp
@@ -740,9 +740,11 @@ 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;
 	}
 }
 
diff --git a/src/sensors/bno080sensor.cpp b/src/sensors/bno080sensor.cpp
index a8545c9b5..52234f3c8 100644
--- a/src/sensors/bno080sensor.cpp
+++ b/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);