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Added support for 32kHz gyro updates

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This commit is contained in:
Martin Budden 2017-01-05 18:15:37 +00:00
parent a1c14320bf
commit 95111483d8
14 changed files with 83 additions and 33 deletions
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8
src/main/fc/config.c
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@ -1043,6 +1043,14 @@ void validateAndFixGyroConfig(void)
float samplingTime = 0.000125f;
if (gyroConfig()->gyro_use_32khz) {
#ifdef GYRO_SUPPORTS_32KHZ
samplingTime = 0.00003125;
#else
gyroConfig()->gyro_use_32khz = 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;