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Configurable gyro Denominator when gyro_lpf set to OFF

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This commit is contained in:
borisbstyle 2016-02-06 13:09:40 +01:00
parent 9f15da0641
commit cdb671b0d6
9 changed files with 46 additions and 51 deletions
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63
src/main/io/serial_msp.c
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@ -101,6 +101,39 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // FIXME dependency on mw.c
extern void resetPidProfile(pidProfile_t *pidProfile);
void setGyroSamplingSpeed(uint16_t looptime) {
uint16_t gyroSampleRate = 1000;
uint8_t maxDivider = 1;
if (looptime != targetLooptime) {
#ifdef STM32F303xC
if (looptime < 1000) {
masterConfig.gyro_lpf = 1;
gyroSampleRate = 125;
maxDivider = 8;
} else {
masterConfig.gyro_lpf = 1;
}
#else
if (looptime < 1000) {
masterConfig.gyro_lpf = 0;
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
gyroSampleRate = 125;
maxDivider = 8;
} else {
masterConfig.gyro_lpf = 1;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
}
#endif
}
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
@ -1203,7 +1236,6 @@ static bool processInCommand(void)
uint32_t i;
uint16_t tmp;
uint8_t rate;
uint16_t gyroRefreshRate;
#ifdef GPS
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
@ -1248,34 +1280,7 @@ static bool processInCommand(void)
masterConfig.disarm_kill_switch = read8();
break;
case MSP_SET_LOOP_TIME:
gyroRefreshRate = read16();
if (gyroRefreshRate != targetLooptime) {
switch (gyroRefreshRate) {
#ifdef STM32F303xC
default:
case(1000):
masterConfig.gyro_lpf = 1;
break;
case(500):
masterConfig.gyro_lpf = 0;
break;
#else
default:
case(1000):
masterConfig.gyro_lpf = 1;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
break;
case(500):
masterConfig.gyro_lpf = 0;
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
break;
#endif
}
}
setGyroSamplingSpeed(read16());
break;
case MSP_SET_PID_CONTROLLER:
currentProfile->pidProfile.pidController = constrain(read8(), 1, 2);