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Merge remote-tracking branch 'prodrone/betaflight' into alphaflight

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borisbstyle 2015-09-19 16:44:11 +02:00
commit 0ea5a99e2b
22 changed files with 808 additions and 184 deletions
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14
src/main/drivers/gyro_sync.c
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@ -89,20 +89,10 @@ void gyroUpdateSampleRate(uint8_t lpf) {
#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
mpuDividerDrops = (minLooptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;