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Code Issues Wiki Activity

Moved targetLooptime into gyro_t, tidied gyro_sync and gyro

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This commit is contained in:
Martin Budden 2016-06-26 08:41:24 +01:00
parent 19b02db8dd
commit 4d238b27d5
24 changed files with 52 additions and 72 deletions
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5
src/main/main.c
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@ -49,7 +49,6 @@
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gyro_sync.h"
#include "drivers/sdcard.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
@ -694,12 +693,12 @@ void main_init(void)
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, targetLooptime);
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(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(375):
case(250):