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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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16
src/main/main.c
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@ -690,19 +690,19 @@ void main_init(void)
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if(sensors(SENSOR_ACC)) {
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case(500):
case(375):
case(250):
case(125):
switch (gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case 500:
case 375:
case 250:
case 125:
accTargetLooptime = 1000;
break;
default:
case(1000):
case 1000:
#ifdef STM32F10X
accTargetLooptime = 3000;
accTargetLooptime = 1000;
#else
accTargetLooptime = 1000;
#endif

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