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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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3
src/main/sensors/initialisation.c
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@ -79,6 +79,7 @@ extern float magneticDeclination;
extern gyro_t gyro;
extern baro_t baro;
extern acc_t acc;
extern sensor_align_e gyroAlign;
uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
@ -632,7 +633,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
acc.init(&acc);
}
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyroUpdateSampleRate(gyroLpf, gyroSyncDenominator); // Set gyro refresh rate before initialisation
gyro.targetLooptime = gyroSetSampleRate(gyroLpf, gyroSyncDenominator); // Set gyro sample rate before initialisation
gyro.init(gyroLpf);
detectMag(magHardwareToUse);