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Taskmain rework part II

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INT wait

Fix auto settings F3
This commit is contained in:
borisbstyle 2016-02-25 23:36:51 +01:00
parent f7091f48d0
commit 2e8fa5eab1
7 changed files with 137 additions and 104 deletions
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14
src/main/io/serial_msp.c
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@ -114,7 +114,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
if (looptime < 250) {
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
if (looptime < 375) {
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
@ -123,6 +126,9 @@ void setGyroSamplingSpeed(uint16_t looptime) {
} else {
masterConfig.gyro_lpf = 1;
masterConfig.pid_process_denom = 1;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
}
#else
if (looptime < 1000) {
@ -133,14 +139,18 @@ void setGyroSamplingSpeed(uint16_t looptime) {
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
masterConfig.emf_avoidance = 0;
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
if (looptime < 250) {
masterConfig.pid_process_denom = 3;
} else if (looptime < 500) {
masterConfig.emf_avoidance = 1;
} else if (looptime < 375) {
if (currentProfile->pidProfile.pidController == 2) {
masterConfig.pid_process_denom = 3;
} else {
masterConfig.pid_process_denom = 2;
}
masterConfig.emf_avoidance = 1;
}
} else {
masterConfig.gyro_lpf = 1;