Merge remote-tracking branch 'origin/master' into ICM20948_fix

# Conflicts: # esp32/src/main.cpp # esp32/src/peripherals/peripherals.cpp
2025-11-27 18:17:19 +01:00
parent 12ffd0ce59 70c798a2cc
commit 19b7da85fe
9 changed files with 56 additions and 25 deletions
@@ -166,13 +166,16 @@ float Peripherals::rightDistance() { return _right_distance; }

 void Peripherals::getIMUResult(JsonVariant &root) {
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
-    _imu.getResults(root);
+    JsonVariant imu = root["imu"].to<JsonVariant>();
+    _imu.getResults(imu);
 #endif
 #if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
-    _mag.getResults(root);
+    JsonVariant mag = root["mag"].to<JsonVariant>();
+    _mag.getResults(mag);
 #endif
 #if FT_ENABLED(USE_BMP180)
-    _bmp.getResults(root);
+    JsonVariant bmp = root["bmp"].to<JsonVariant>();
+    _bmp.getResults(bmp);
 #endif
 }