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2khz Support Added

This commit is contained in:
borisbstyle 2015-12-22 17:42:57 +01:00
parent 27c6db51fb
commit a3fe45d774
8 changed files with 79 additions and 31 deletions

View file

@ -46,10 +46,18 @@ void gyroUpdateSampleRate(uint8_t lpf) {
if (!lpf) {
gyroSamplePeriod = 125;
gyroSyncDenominator = 8; // Sample every 8th gyro measurement
#ifdef STM32F303xC
gyroSyncDenominator = 4; // Sample every 4th gyro measurement 2khz
#else
if (!sensors(SENSOR_ACC) && !sensors(SENSOR_BARO) && !sensors(SENSOR_MAG)) {
gyroSyncDenominator = 4; // Sample every 4th gyro measurement 2khz
} else {
gyroSyncDenominator = 8; // Sample every 8th gyro measurement 1khz
}
#endif
} else {
gyroSamplePeriod = 1000;
gyroSyncDenominator = 1; // Full Sampling
gyroSyncDenominator = 1; // Full Sampling 1khz
}
// calculate gyro divider and targetLooptime (expected cycleTime)