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Code Issues Wiki Activity

8khz Sampling option / preparation

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borisbstyle 2015-11-24 16:06:59 +01:00
parent e3b77b2ee5
commit b39beceb62
17 changed files with 39 additions and 75 deletions
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6
src/main/sensors/initialisation.c
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@ -644,12 +644,10 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf)
{
int16_t deg, min;
uint16_t gyroLpf = GYRO_LPF;
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
@ -672,7 +670,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyroUpdateSampleRate(); // Set gyro refresh rate before initialisation
gyroUpdateSampleRate(gyroLpf); // Set gyro refresh rate before initialisation
gyro.init(gyroLpf);
detectMag(magHardwareToUse);