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Set default acc rate to 1000Hz, for all targets

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This commit is contained in:
Martin Budden 2016-07-27 17:12:16 +01:00
parent f1fc190e5b
commit 4a769eb55f
2 changed files with 13 additions and 13 deletions
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24
src/main/main.c
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@ -690,21 +690,21 @@ void main_init(void)
rescheduleTask(TASK_GYROPID, gyro.targetLooptime); rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true); setTaskEnabled(TASK_GYROPID, true);
if(sensors(SENSOR_ACC)) { if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true); setTaskEnabled(TASK_ACCEL, true);
switch(gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future switch (gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case(500): case 500:
case(375): case 375:
case(250): case 250:
case(125): case 125:
accTargetLooptime = 1000; accTargetLooptime = 1000;
break; break;
default: default:
case(1000): case 1000:
#ifdef STM32F10X #ifdef STM32F10X
accTargetLooptime = 3000; accTargetLooptime = 1000;
#else #else
accTargetLooptime = 1000; accTargetLooptime = 1000;
#endif #endif
} }
rescheduleTask(TASK_ACCEL, accTargetLooptime); rescheduleTask(TASK_ACCEL, accTargetLooptime);

2
src/main/scheduler/scheduler_tasks.c
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@ -43,7 +43,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_ACCEL] = { [TASK_ACCEL] = {
.taskName = "ACCEL", .taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer, .taskFunc = taskUpdateAccelerometer,
.desiredPeriod = 1000000 / 100, // every 10ms .desiredPeriod = 1000000 / 1000, // every 1ms
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_MEDIUM,
}, },