Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
Code Issues Wiki Activity

correction for MPU6500

Browse source 
ident

correction targets
This commit is contained in:
borisbstyle 2015-09-18 15:09:35 +02:00
parent 876c027d17
commit d93f83e7ae
2 changed files with 4 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/drivers/accgyro_spi_mpu6500.h
View file

@ -25,7 +25,8 @@
#define MPU6500_RA_ACCEL_CFG (0x1C) #define MPU6500_RA_ACCEL_CFG (0x1C)
#define MPU6500_RA_LPF (0x1A) #define MPU6500_RA_LPF (0x1A)
#define MPU6500_RA_RATE_DIV (0x19) #define MPU6500_RA_RATE_DIV (0x19)
#define MPU6500_RA_INT_STATUS (0x38) #define MPU6500_RA_INT_ENABLE (0x38)
#define MPU6500_RA_INT_STATUS (0x3A)
#define MPU6500_WHO_AM_I_CONST (0x70) #define MPU6500_WHO_AM_I_CONST (0x70)

4
src/main/drivers/gyro_sync.c
View file

@ -48,7 +48,7 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop
int minLooptime; int minLooptime;
if (syncGyroToLoop) { if (syncGyroToLoop) {
#if defined(SPRACINGF3) || defined(ALIENWIIF3) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(CHEBUZZF3) || defined(EUSTM32F103RC) || defined(PORT103R) || defined(MOTOLAB) #if defined(SPRACINGF3) || defined(ALIENWIIF3) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(CHEBUZZF3) || defined(PORT103R) || defined(MOTOLAB)
if (lpf == INV_FILTER_256HZ_NOLPF2) { if (lpf == INV_FILTER_256HZ_NOLPF2) {
gyroSamplePeriod = 125; gyroSamplePeriod = 125;
@ -74,7 +74,7 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop
gyroSamplePeriod = 1000; gyroSamplePeriod = 1000;
minLooptime = 1000; // Full sampling minLooptime = 1000; // Full sampling
} }
#elif defined(COLIBRI_RACE) #elif defined(COLIBRI_RACE) || defined(EUSTM32F103RC)
if (lpf == INV_FILTER_256HZ_NOLPF2) { if (lpf == INV_FILTER_256HZ_NOLPF2) {
gyroSamplePeriod = 125; gyroSamplePeriod = 125;