Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

Correct dT declaration

Browse source
This commit is contained in:
borisbstyle 2015-10-23 23:15:44 +02:00
parent 763c0d2dfa
commit 5d152a5f4f
1 changed files with 2 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/mw.c
View file

@ -96,11 +96,12 @@ enum {
#define IBATINTERVAL (6 * 3500)
#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 GYRO_RATE 0.001f // Gyro refresh rate 1khz
uint32_t currentTime = 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
float dT = 0.000001f; // dT set for 1khz mode
float dT = GYRO_RATE; // dT set for gyro refresh rate
int16_t magHold;
int16_t headFreeModeHold;