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Code Issues Wiki Activity

Correct dT declaration

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borisbstyle 2015-10-23 23:15:44 +02:00
parent 763c0d2dfa
commit 5d152a5f4f
1 changed files with 2 additions and 1 deletions
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src/main/mw.c
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@ -96,11 +96,12 @@ enum {
#define IBATINTERVAL (6 * 3500) #define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 100 // Watchdog for boards without interrupt for gyro #define GYRO_WATCHDOG_DELAY 100 // Watchdog for boards without interrupt for gyro
#define PREVENT_RX_PROCESS_PRE_LOOP_TRIGGER 80 // Prevent RX processing before expected loop trigger #define PREVENT_RX_PROCESS_PRE_LOOP_TRIGGER 80 // Prevent RX processing before expected loop trigger
#define GYRO_RATE 0.001f // Gyro refresh rate 1khz
uint32_t currentTime = 0; uint32_t currentTime = 0;
uint32_t previousTime = 0; uint32_t previousTime = 0;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
float dT = 0.000001f; // dT set for 1khz mode float dT = GYRO_RATE; // dT set for gyro refresh rate
int16_t magHold; int16_t magHold;
int16_t headFreeModeHold; int16_t headFreeModeHold;