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Scheduled motor refresh rate

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This commit is contained in:
borisbstyle 2016-02-28 20:23:30 +01:00
parent 10b629c736
commit 6e96adff0d
13 changed files with 36 additions and 55 deletions
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9
src/main/io/serial_msp.c
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@ -164,13 +164,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
#endif
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
if (looptime < 1000) {
masterConfig.force_motor_pwm_rate = 1;
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f)) + 100;
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
} else {
masterConfig.force_motor_pwm_rate = 0;
}
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f));
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
}
}