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Various cleanups and increase in D setpoint weight range

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borisbstyle 2016-08-24 00:33:32 +02:00
parent e6a11960fd
commit 5e5b44f593
4 changed files with 6 additions and 11 deletions
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7
src/main/main.c
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@ -106,8 +106,6 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
@ -599,8 +597,7 @@ void init(void)
masterConfig.gyro_sync_denom = 1;
}
setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
setTargetPidLooptime(gyro.targetLooptime * masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
initBlackbox();
@ -677,7 +674,7 @@ void main_init(void)
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
rescheduleTask(TASK_GYROPID, gyro.targetLooptime); // Add a littlebit of extra time to reduce busy wait
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {