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Minor fixes to gyro ISR code, as per review
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2 changed files with 10 additions and 1 deletions
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@ -1054,6 +1054,10 @@ void validateAndFixGyroConfig(void)
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#endif
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}
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#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
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gyroConfig()->gyro_isr_update = false;
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#endif
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if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
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pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
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gyroConfig()->gyro_sync_denom = 1;
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