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Fix numeric overflow for gyro calibration samples when using 32KHz sampling

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The current data type was uint16 and that would overflow when using 32KHz sampling.  This caused the calibration to only run for about 0.9 seconds instead of the expected 3 seconds.  At 32KHz the sample count is 96774 which overflows uint16 so changed the data types to uint32.
This commit is contained in:
Bruce Luckcuck 2018-05-15 13:24:08 -04:00
parent e405e41d0c
commit e4e4948c2a
1 changed files with 2 additions and 2 deletions
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4
src/main/sensors/gyro.c
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@ -98,7 +98,7 @@ static bool gyroHasOverflowProtection = true;
typedef struct gyroCalibration_s {
int32_t sum[XYZ_AXIS_COUNT];
stdev_t var[XYZ_AXIS_COUNT];
uint16_t calibratingG;
uint32_t calibratingG;
} gyroCalibration_t;
bool firstArmingCalibrationWasStarted = false;
@ -872,7 +872,7 @@ static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
return gyroCalibration->calibratingG == 1;
}
static uint16_t gyroCalculateCalibratingCycles(void)
static uint32_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_TIME_US / gyro.targetLooptime);
}