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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-03-11 21:06:33 -08:00
commit bd114b76da
19 changed files with 114 additions and 73 deletions
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14
src/main/io/serial_msp.c
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@ -134,9 +134,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2;
}
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else {
masterConfig.gyro_lpf = 1;
masterConfig.pid_process_denom = 1;
masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
@ -160,15 +161,17 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.pid_process_denom = 2;
}
}
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else {
masterConfig.gyro_lpf = 1;
masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.pid_process_denom = 1;
}
#endif
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
}
@ -216,6 +219,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXAIRMODE, "AIR MODE;", 28 },
{ BOXACROPLUS, "ACRO PLUS;", 29 },
{ BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 30},
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -543,7 +547,7 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOXACROPLUS;
activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
if (sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXBARO;