mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 00:05:33 +03:00
Do runtime check to see if gyro supports 32kHz
This commit is contained in:
parent
a0cb722254
commit
7b90a76098
4 changed files with 18 additions and 13 deletions
|
@ -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
|
||||
}
|
||||
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue