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Minor fixes to gyro ISR code, as per review

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This commit is contained in:
Martin Budden 2017-01-06 09:42:07 +00:00
parent 075b387167
commit e513fd8472
2 changed files with 10 additions and 1 deletions
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4
src/main/fc/config.c
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@ -1054,6 +1054,10 @@ void validateAndFixGyroConfig(void)
#endif
}
#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
gyroConfig()->gyro_isr_update = false;
#endif
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;