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change pidloop constraint when dshot bidir is enabled

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This commit is contained in:
Nicola De Pasquale 2020-03-26 17:17:22 +01:00
parent 5b374c6fe0
commit aa9e8bdbde
1 changed files with 3 additions and 0 deletions
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3
src/main/config/config.c
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@ -657,6 +657,9 @@ void validateAndFixGyroConfig(void)
} }
} else { } else {
const float pidLooptime = samplingTime * pidConfig()->pid_process_denom; const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
if (motorConfig()->dev.useDshotTelemetry) {
motorUpdateRestriction *= 2;
}
if (pidLooptime < motorUpdateRestriction) { if (pidLooptime < motorUpdateRestriction) {
uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime; uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
if (motorUpdateRestriction / samplingTime > minPidProcessDenom) { if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {