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Merge pull request #2089 from mikeller/disable_32khz_gyro_if_gyro_lpf_used

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Changed checks to disable 32kHz gyro updates if 'gyro_lpf' is used.
This commit is contained in:
borisbstyle 2017-01-11 15:50:22 +01:00 • committed by GitHub
commit 9b2d34b818
1 changed files with 7 additions and 6 deletions
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13
src/main/fc/config.c
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@ -1042,6 +1042,13 @@ void validateAndFixGyroConfig(void)
float samplingTime = 0.000125f;
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;
gyroConfig()->gyro_use_32khz = false;
samplingTime = 0.001f;
}
if (gyroConfig()->gyro_use_32khz) {
samplingTime = 0.00003125;
// F1 and F3 can't handle high sample speed.
@ -1056,12 +1063,6 @@ void validateAndFixGyroConfig(void)
gyroConfig()->gyro_isr_update = 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;
samplingTime = 0.001f;
}
// check for looptime restrictions based on motor protocol. Motor times have safety margin
const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
float motorUpdateRestriction;