Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Do runtime check to see if gyro supports 32kHz

Browse source
This commit is contained in:
Martin Budden 2017-01-11 00:09:18 +00:00
parent a0cb722254
commit 7b90a76098
4 changed files with 18 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/fc/config.c
View file

@ -1047,17 +1047,12 @@ void validateAndFixGyroConfig(void)
float samplingTime = 0.000125f;
if (gyroConfig()->gyro_use_32khz) {
#ifdef GYRO_SUPPORTS_32KHZ
samplingTime = 0.00003125;
// F1 and F3 can't handle high pid speed.
// F1 and F3 can't handle high pid speed
#if defined(STM32F1)
pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 16, 16);
#endif
#if defined(STM32F3)
#elif defined(STM32F3)
pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 4, 16);
#endif
#else
gyroConfig()->gyro_use_32khz = false;
#endif
}