From 359290d1df354b302a761a2fe416a9da7528dd96 Mon Sep 17 00:00:00 2001 From: Bruce Luckcuck Date: Sun, 29 Jul 2018 10:12:24 -0400 Subject: [PATCH] Fix 32KHz gyro targetLooptime calculation The target loop time was being calculated incorrectly for 32KHz gyros. Constant shoud be 31.25 rather than 31.5. --- src/main/drivers/accgyro/gyro_sync.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c index 74a754cbff..7b858ce164 100644 --- a/src/main/drivers/accgyro/gyro_sync.c +++ b/src/main/drivers/accgyro/gyro_sync.c @@ -54,7 +54,7 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin if (lpf == GYRO_HARDWARE_LPF_NORMAL || lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) { if (gyro_use_32khz) { gyro->gyroRateKHz = GYRO_RATE_32_kHz; - gyroSamplePeriod = 31.5f; + gyroSamplePeriod = 31.25f; } else { switch (gyro->mpuDetectionResult.sensor) { case BMI_160_SPI: