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