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Configurable gyro Denominator when gyro_lpf set to OFF

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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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4
src/main/sensors/initialisation.c
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@ -689,7 +689,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf, uint8_t gyroSyncDenominator)
{
int16_t deg, min;
@ -715,7 +715,7 @@ 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(gyroLpf); // Set gyro refresh rate before initialisation
gyroUpdateSampleRate(gyroLpf, gyroSyncDenominator); // Set gyro refresh rate before initialisation
gyro.init(gyroLpf);
detectMag(magHardwareToUse);