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Code Issues Wiki Activity

Gyro Calibration scaled to looptime setting

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This commit is contained in:
borisbstyle 2016-03-08 22:46:54 +01:00
parent 0aac025494
commit 1187c575ed
3 changed files with 6 additions and 5 deletions
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3
src/main/io/rc_controls.c
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@ -34,6 +34,7 @@
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/gyro_sync.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
@ -215,7 +216,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
#ifdef GPS
if (feature(FEATURE_GPS)) {