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Add Experimental LPF parameter

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borisbstyle 2016-03-01 00:18:49 +01:00
parent 856ceee528
commit a2a58d8ccb
3 changed files with 7 additions and 3 deletions
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2
src/main/drivers/gyro_sync.c
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@ -44,7 +44,7 @@ bool gyroSyncCheckUpdate(void) {
void gyroUpdateSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator) {
int gyroSamplePeriod;
if (!lpf) {
if (!lpf || lpf == 7) {
gyroSamplePeriod = 125;
} else {
gyroSamplePeriod = 1000;

6
src/main/io/serial_cli.c
View file

@ -380,7 +380,11 @@ static const char * const lookupTableGyroLpf[] = {
"OFF",
"188HZ",
"98HZ",
"42HZ"
"42HZ",
"20HZ",
"10HZ",
"5HZ",
"EXPERIMENTAL"
};
static const char * const lookupTableAccHardware[] = {

2
src/main/main.c
View file

@ -582,7 +582,7 @@ void init(void)
afatfs_init();
#endif
if (masterConfig.gyro_lpf) {
if (masterConfig.gyro_lpf > 0 && masterConfig.gyro_lpf < 7) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyro_sync_denom = 1;
}