Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Enable full 1khz sampling on F1 boards (no acc mode)

Browse source
This commit is contained in:
borisbstyle 2015-08-07 13:37:34 +02:00
parent de5f6aa68f
commit 6f3afb2df1
1 changed files with 9 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/drivers/gyro_sync.c
View file

@ -60,7 +60,7 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf) {
} }
else { else {
gyroSamplePeriod = 1000; gyroSamplePeriod = 1000;
minLooptime = 1000; minLooptime = 1000; // Full sampling
} }
#elif STM32F10X #elif STM32F10X
if (lpf == INV_FILTER_256HZ_NOLPF2) { if (lpf == INV_FILTER_256HZ_NOLPF2) {
@ -75,8 +75,13 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf) {
} }
else { else {
gyroSamplePeriod = 1000; gyroSamplePeriod = 1000;
if(!sensors(SENSOR_ACC)) {
minLooptime = 1000; // Full sampling without ACC
}
else {
minLooptime = 2000; minLooptime = 2000;
} }
}
#endif #endif
looptime = constrain(looptime, minLooptime, 4000); looptime = constrain(looptime, minLooptime, 4000);
mpuDivider = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1; mpuDivider = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;