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Change use_fast_pwm to forced_motor_pwm // New default fixed PWM rates

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borisbstyle 2016-02-28 01:16:59 +01:00
parent a5278740bd
commit 977fec408a
11 changed files with 24 additions and 20 deletions
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10
src/main/io/serial_msp.c
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@ -165,10 +165,14 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
if (looptime < 1000) {
masterConfig.use_fast_pwm = 1;
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f));
masterConfig.force_motor_pwm_rate = 1;
if (masterConfig.use_multiShot || masterConfig.use_oneshot42) {
masterConfig.motor_pwm_rate = 4200;
} else {
masterConfig.motor_pwm_rate = 2700;
}
} else {
masterConfig.use_fast_pwm = 0;
masterConfig.force_motor_pwm_rate = 0;
}
}
}