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Gyro Sensors: Remove 32kHz gyro sampling mode(s) and associated code

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This commit is contained in:
AJ Christensen 2019-02-12 15:15:44 +13:00
parent 988d0a9b5c
commit 4fdee6ec1c
19 changed files with 17 additions and 128 deletions
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16
src/main/fc/config.c
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@ -466,21 +466,11 @@ void validateAndFixGyroConfig(void)
if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfigMutable()->gyro_sync_denom = 1;
gyroConfigMutable()->gyro_use_32khz = false;
}
if (gyroConfig()->gyro_use_32khz) {
// F1 and F3 can't handle high sample speed.
#if defined(STM32F1)
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
#elif defined(STM32F3)
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
#endif
} else {
#if defined(STM32F1)
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
#endif
}
float samplingTime;
switch (gyroMpuDetectionResult()->sensor) {
@ -504,9 +494,7 @@ void validateAndFixGyroConfig(void)
break;
}
}
if (gyroConfig()->gyro_use_32khz) {
samplingTime = 0.00003125;
}
// check for looptime restrictions based on motor protocol. Motor times have safety margin
float motorUpdateRestriction;