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Further 2khz Stability Enhancements
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5 changed files with 38 additions and 23 deletions
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@ -541,7 +541,7 @@ int main(void) {
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init();
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/* Setup scheduler */
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rescheduleTask(TASK_GYROPID, targetLooptime);
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rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
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setTaskEnabled(TASK_GYROPID, true);
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setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
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