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Improve performane on all targets // remove emf_avoidance

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This commit is contained in:
borisbstyle 2016-02-27 15:56:45 +01:00
parent 35ce724a22
commit a5278740bd
3 changed files with 12 additions and 12 deletions
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16
src/main/io/serial_msp.c
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@ -124,8 +124,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.pid_process_denom = 2;
} else if (looptime < 375) {
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2;
}
} else {
@ -144,20 +144,15 @@ void setGyroSamplingSpeed(uint16_t looptime) {
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
masterConfig.emf_avoidance = 0;
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
if (looptime < 250) {
masterConfig.pid_process_denom = 3;
masterConfig.emf_avoidance = 1;
} else if (looptime < 375) {
if (currentProfile->pidProfile.pidController == 2) {
masterConfig.pid_process_denom = 3;
} else {
masterConfig.pid_process_denom = 2;
}
#ifndef CC3D
masterConfig.emf_avoidance = 1;
#endif
}
} else {
masterConfig.gyro_lpf = 1;
@ -168,6 +163,13 @@ void setGyroSamplingSpeed(uint16_t looptime) {
}
#endif
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));
} else {
masterConfig.use_fast_pwm = 0;
}
}
}