From 6f3afb2df163e15fb354dc806d8f3b5f26e09a31 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Fri, 7 Aug 2015 13:37:34 +0200
Subject: [PATCH] Enable full 1khz sampling on F1 boards (no acc mode)

---
 src/main/drivers/gyro_sync.c | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/gyro_sync.c
index 946aff507b..ccb6bfd9a0 100644
--- a/src/main/drivers/gyro_sync.c
+++ b/src/main/drivers/gyro_sync.c
@@ -52,15 +52,15 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf) {
         gyroSamplePeriod = 125;
 
         if(!sensors(SENSOR_ACC)) {
-            minLooptime = 500;  // Max refresh 2khz
+            minLooptime = 500;   // Max refresh 2khz
         }
         else {
-            minLooptime = 625;  // Max refresh 1,6khz
+            minLooptime = 625;   // Max refresh 1,6khz
         }
     }
     else {
         gyroSamplePeriod = 1000;
-        minLooptime = 1000;
+        minLooptime = 1000;      // Full sampling
     }
 #elif STM32F10X
     if (lpf == INV_FILTER_256HZ_NOLPF2) {
@@ -75,7 +75,12 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf) {
     }
     else {
         gyroSamplePeriod = 1000;
-        minLooptime = 2000;
+        if(!sensors(SENSOR_ACC)) {
+            minLooptime = 1000;  // Full sampling without ACC
+        }
+        else {
+            minLooptime = 2000;
+        }
     }
 #endif
     looptime = constrain(looptime, minLooptime, 4000);