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Added support for 32kHz gyro updates
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14 changed files with 83 additions and 33 deletions
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@ -1043,6 +1043,14 @@ void validateAndFixGyroConfig(void)
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float samplingTime = 0.000125f;
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if (gyroConfig()->gyro_use_32khz) {
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#ifdef GYRO_SUPPORTS_32KHZ
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samplingTime = 0.00003125;
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#else
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gyroConfig()->gyro_use_32khz = false;
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#endif
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}
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if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
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pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
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gyroConfig()->gyro_sync_denom = 1;
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