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Code Issues Wiki Activity

Improved acc initialisation

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This commit is contained in:
Martin Budden 2016-08-15 07:32:06 +01:00
parent 9b565384f8
commit c077bacee6
7 changed files with 82 additions and 65 deletions
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17
src/main/main.c
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@ -683,22 +683,7 @@ void main_init(void)
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch (gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case 500:
case 375:
case 250:
case 125:
accTargetLooptime = 1000;
break;
default:
case 1000:
#ifdef STM32F10X
accTargetLooptime = 1000;
#else
accTargetLooptime = 1000;
#endif
}
rescheduleTask(TASK_ACCEL, accTargetLooptime);
rescheduleTask(TASK_ACCEL, accSamplingInterval);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));