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Code Issues Wiki Activity

Configurable PID jitter buffer

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borisbstyle 2016-02-21 13:18:06 +01:00
parent 9b43dfde19
commit 97504c0ffe
4 changed files with 7 additions and 3 deletions
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3
src/main/mw.c
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@ -101,7 +101,6 @@ enum {
#define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
#define JITTER_BUFFER_TIME 20 // cycleTime jitter buffer time
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@ -720,7 +719,7 @@ void taskMainPidLoopCheck(void) {
while (1) {
if (gyroSyncCheckUpdate() || ((cycleTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
while (1) {
if (micros() >= JITTER_BUFFER_TIME + previousTime) break;
if (micros() >= masterConfig.pid_jitter_buffer + previousTime) break;
}
break;
}