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

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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
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13
src/main/drivers/gyro_sync.c
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@ -52,15 +52,15 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf) {
gyroSamplePeriod = 125; gyroSamplePeriod = 125;
if(!sensors(SENSOR_ACC)) { if(!sensors(SENSOR_ACC)) {
minLooptime = 500; // Max refresh 2khz minLooptime = 500; // Max refresh 2khz
} }
else { else {
minLooptime = 625; // Max refresh 1,6khz minLooptime = 625; // Max refresh 1,6khz
} }
} }
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) {
@ -75,7 +75,12 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf) {
} }
else { else {
gyroSamplePeriod = 1000; gyroSamplePeriod = 1000;
minLooptime = 2000; if(!sensors(SENSOR_ACC)) {
minLooptime = 1000; // Full sampling without ACC
}
else {
minLooptime = 2000;
}
} }
#endif #endif
looptime = constrain(looptime, minLooptime, 4000); looptime = constrain(looptime, minLooptime, 4000);