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Fixed 'gyro_sync_denom' limiting when using 32kHz gyro.
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1 changed files with 6 additions and 2 deletions
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@ -1078,9 +1078,13 @@ void validateAndFixGyroConfig(void)
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samplingTime = 0.00003125;
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samplingTime = 0.00003125;
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// F1 and F3 can't handle high sample speed.
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// F1 and F3 can't handle high sample speed.
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#if defined(STM32F1)
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#if defined(STM32F1)
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gyroConfig()->gyro_sync_denom = constrain(gyroConfig()->gyro_sync_denom, 16, 16);
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gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
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#elif defined(STM32F3)
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#elif defined(STM32F3)
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gyroConfig()->gyro_sync_denom = constrain(gyroConfig()->gyro_sync_denom, 4, 16);
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gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
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#endif
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} else {
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#if defined(STM32F1)
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gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
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#endif
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#endif
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}
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}
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