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original dT back

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update hex
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borisbstyle 2015-08-17 23:32:57 +02:00
parent 6b433d8568
commit 7a6fbc1702
5 changed files with 27321 additions and 27287 deletions
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obj/betaflight_CC3D.hex
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obj/betaflight_NAZE.hex
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obj/betaflight_SPRACINGF3.hex
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obj/betaflight_VORTEX.hex
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src/main/mw.c
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@ -689,10 +689,15 @@ void processRx(void)
// Gyro Low Pass // Gyro Low Pass
void filterGyro(void) { void filterGyro(void) {
int axis; int axis;
static float dTGyro;
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT]; static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
if (!dTGyro) {
dTGyro = (float)targetLooptime * 0.000001f;
}
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dT); gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dTGyro);
} }
} }
void getArmingChannel(modeActivationCondition_t *modeActivationConditions, uint8_t *armingChannel) { void getArmingChannel(modeActivationCondition_t *modeActivationConditions, uint8_t *armingChannel) {