From 0275129c2386ffe3a0e5bea8f4eefcb9ddc59546 Mon Sep 17 00:00:00 2001
From: ProDrone <me@prodrone.com>
Date: Sat, 19 Sep 2015 01:56:53 +0200
Subject: [PATCH] Ignore ACC sensor when setting looptime

IMU uses quaternions instead of euler (ACC speedup).
Faster trigonio & math functions activated.
---
 src/main/drivers/gyro_sync.c | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/gyro_sync.c
index 08c848806c..89aa266509 100644
--- a/src/main/drivers/gyro_sync.c
+++ b/src/main/drivers/gyro_sync.c
@@ -90,20 +90,10 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop
 #else
         if (lpf == INV_FILTER_256HZ_NOLPF2) {
             gyroSamplePeriod = 125;
-
-            if(!sensors(SENSOR_ACC)) {
-                minLooptime = 625;   // Max refresh 1,6khz
-            } else {
-                minLooptime = 1625;  // Max refresh 615hz
-            }
+            minLooptime = 625;      // Max refresh 1,6khz
         } else {
             gyroSamplePeriod = 1000;
-
-            if(!sensors(SENSOR_ACC)) {
-                minLooptime = 1000;  // Full sampling without ACC
-            } else {
-                minLooptime = 2000;
-            }
+            minLooptime = 1000;     // Full sampling without ACC
         }
 #endif
         looptime = constrain(looptime, minLooptime, 4000);