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Merge pull request #6617 from etracer65/gyro_lpf_updates

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Disable DLPF EXPERIMENTAL mode for MPU60x0; remove experimental support from F3
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Michael Keller 2018-08-23 22:25:48 +12:00 • committed by GitHub
commit c12981f732
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8 changed files with 43 additions and 23 deletions
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4
src/main/fc/config.c
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@ -427,7 +427,7 @@ void validateAndFixGyroConfig(void)
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
}
if (gyroConfig()->gyro_hardware_lpf != GYRO_HARDWARE_LPF_NORMAL && gyroConfig()->gyro_hardware_lpf != GYRO_HARDWARE_LPF_EXPERIMENTAL) {
if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfigMutable()->gyro_sync_denom = 1;
gyroConfigMutable()->gyro_use_32khz = false;
@ -458,7 +458,7 @@ void validateAndFixGyroConfig(void)
samplingTime = 0.000125f;
break;
}
if (gyroConfig()->gyro_hardware_lpf != GYRO_HARDWARE_LPF_NORMAL && gyroConfig()->gyro_hardware_lpf != GYRO_HARDWARE_LPF_EXPERIMENTAL) {
if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
switch (gyroMpuDetectionResult()->sensor) {
case ICM_20649_SPI:
samplingTime = 1.0f / 1100.0f;