1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00

Changed checks to disable 32kHz gyro updates if 'gyro_lpf' is used.

This commit is contained in:
mikeller 2017-01-11 22:11:51 +13:00
parent 322ae59051
commit 7243e819fc

View file

@ -1042,6 +1042,13 @@ void validateAndFixGyroConfig(void)
float samplingTime = 0.000125f;
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;
gyroConfig()->gyro_use_32khz = false;
samplingTime = 0.001f;
}
if (gyroConfig()->gyro_use_32khz) {
samplingTime = 0.00003125;
// F1 and F3 can't handle high sample speed.
@ -1056,12 +1063,6 @@ void validateAndFixGyroConfig(void)
gyroConfig()->gyro_isr_update = false;
#endif
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;
samplingTime = 0.001f;
}
// check for looptime restrictions based on motor protocol. Motor times have safety margin
const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
float motorUpdateRestriction;