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Moved targetLooptime into gyro_t, tidied gyro_sync and gyro
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parent
19b02db8dd
commit
4d238b27d5
24 changed files with 52 additions and 72 deletions
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@ -40,7 +40,6 @@
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#include "drivers/gpio.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/gyro_sync.h"
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#include "drivers/sdcard.h"
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#include "drivers/buf_writer.h"
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#include "drivers/max7456.h"
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@ -109,8 +108,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
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uint16_t gyroSampleRate = 1000;
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uint8_t maxDivider = 1;
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if (looptime != targetLooptime || looptime == 0) {
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if (looptime == 0) looptime = targetLooptime; // needed for pid controller changes
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if (looptime != gyro.targetLooptime || looptime == 0) {
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if (looptime == 0) looptime = gyro.targetLooptime; // needed for pid controller changes
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#ifdef STM32F303xC
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if (looptime < 1000) {
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masterConfig.gyro_lpf = 0;
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@ -854,7 +853,7 @@ static bool processOutCommand(uint8_t cmdMSP)
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break;
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case MSP_LOOP_TIME:
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headSerialReply(2);
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serialize16((uint16_t)targetLooptime);
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serialize16((uint16_t)gyro.targetLooptime);
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break;
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case MSP_RC_TUNING:
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headSerialReply(11);
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