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New Clli params RC Smoothing and sync_gyro_to_loop

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borisbstyle 2015-08-15 01:10:58 +02:00
parent 259630840a
commit 41895bc1af
9 changed files with 78 additions and 51 deletions
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4
src/main/sensors/initialisation.c
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@ -597,7 +597,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop)
{
int16_t deg, min;
@ -615,7 +615,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyroUpdateSampleRate(looptime, gyroLpf); // Set gyro refresh rate before initialisation
gyroUpdateSampleRate(looptime, gyroLpf, syncGyroToLoop); // Set gyro refresh rate before initialisation
gyro.init();
detectMag(magHardwareToUse);