From 25c6b038d9ce2c7991711786cc8993da5d85aff6 Mon Sep 17 00:00:00 2001
From: Bruce Luckcuck <github@etracer.net>
Date: Sun, 29 Jul 2018 17:16:01 -0400
Subject: [PATCH] Changes from review Used HZ_TO_INTERVAL_US() instead of
 hardcoded 500us.

Moved tests into a dedicated function.
---
 src/main/fc/config.c           | 5 ++++-
 src/main/sensors/gyro.c        | 2 +-
 src/main/sensors/gyro.h        | 2 --
 src/main/sensors/gyroanalyse.c | 3 +++
 src/main/sensors/gyroanalyse.h | 1 +
 5 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index f431fbb1b2..0e34b57449 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -60,6 +60,7 @@
 #include "sensors/acceleration.h"
 #include "sensors/battery.h"
 #include "sensors/gyro.h"
+#include "sensors/gyroanalyse.h"
 
 #ifndef USE_OSD_SLAVE
 pidProfile_t *currentPidProfile;
@@ -410,10 +411,12 @@ static void validateAndFixConfig(void)
 #ifndef USE_OSD_SLAVE
 void validateAndFixGyroConfig(void)
 {
+#ifdef USE_GYRO_DATA_ANALYSE
     // Disable dynamic filter if gyro loop is less than 2KHz
-    if (gyro.targetLooptime > GYRO_LOOPTIME_2KHZ) {
+    if (!dynamicFilterAllowed()) {
         featureClear(FEATURE_DYNAMIC_FILTER);
     }
+#endif
     
     // Prevent invalid notch cutoff
     if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 9fece16361..1e505651e6 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -743,7 +743,7 @@ static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uin
 #ifdef USE_GYRO_DATA_ANALYSE
 static bool isDynamicFilterActive(void)
 {
-    return feature(FEATURE_DYNAMIC_FILTER) && (gyro.targetLooptime <= GYRO_LOOPTIME_2KHZ);
+    return feature(FEATURE_DYNAMIC_FILTER) && dynamicFilterAllowed();
 }
 
 static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 58fc175404..b726620343 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -26,8 +26,6 @@
 #include "drivers/bus.h"
 #include "drivers/sensor.h"
 
-#define GYRO_LOOPTIME_2KHZ 500
-
 typedef enum {
     GYRO_NONE = 0,
     GYRO_DEFAULT,
diff --git a/src/main/sensors/gyroanalyse.c b/src/main/sensors/gyroanalyse.c
index 236126739e..c69e731f4a 100644
--- a/src/main/sensors/gyroanalyse.c
+++ b/src/main/sensors/gyroanalyse.c
@@ -304,4 +304,7 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state,
     state->updateStep = (state->updateStep + 1) % STEP_COUNT;
 }
 
+bool dynamicFilterAllowed(void) {
+    return (gyro.targetLooptime <= HZ_TO_INTERVAL_US(2000));
+}
 #endif // USE_GYRO_DATA_ANALYSE
diff --git a/src/main/sensors/gyroanalyse.h b/src/main/sensors/gyroanalyse.h
index 89d4401f3f..58a3449c63 100644
--- a/src/main/sensors/gyroanalyse.h
+++ b/src/main/sensors/gyroanalyse.h
@@ -61,3 +61,4 @@ void gyroDataAnalyseInit(void);
 void gyroDataAnalyseStateInit(gyroAnalyseState_t *gyroAnalyse, uint32_t targetLooptime);
 void gyroDataAnalysePush(gyroAnalyseState_t *gyroAnalyse, int axis, float sample);
 void gyroDataAnalyse(gyroAnalyseState_t *gyroAnalyse, biquadFilter_t *notchFilterDyn);
+bool dynamicFilterAllowed(void);