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Changes from review - add default clause and update PG version

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This commit is contained in:
Bruce Luckcuck 2018-08-22 17:26:23 -04:00
parent 0e8e5b3c16
commit ec038c7db4
2 changed files with 9 additions and 4 deletions
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11
src/main/drivers/accgyro/accgyro_mpu.c
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@ -364,20 +364,25 @@ uint8_t mpuGyroDLPF(gyroDev_t *gyro)
// If gyro is in 32KHz mode then the DLPF bits aren't used // If gyro is in 32KHz mode then the DLPF bits aren't used
if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) { if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
switch (gyro->hardware_lpf) { switch (gyro->hardware_lpf) {
case GYRO_HARDWARE_LPF_NORMAL:
ret = 0;
break;
#ifdef USE_GYRO_DLPF_EXPERIMENTAL #ifdef USE_GYRO_DLPF_EXPERIMENTAL
case GYRO_HARDWARE_LPF_EXPERIMENTAL: case GYRO_HARDWARE_LPF_EXPERIMENTAL:
// experimental mode not supported for MPU60x0 family // experimental mode not supported for MPU60x0 family
if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) { if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
ret = 7; ret = 7;
} else {
ret = 0;
} }
break; break;
#endif #endif
case GYRO_HARDWARE_LPF_1KHZ_SAMPLE: case GYRO_HARDWARE_LPF_1KHZ_SAMPLE:
ret = 1; ret = 1;
break; break;
case GYRO_HARDWARE_LPF_NORMAL:
default:
ret = 0;
break;
} }
} }
return ret; return ret;

2
src/main/sensors/gyro.c
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@ -178,7 +178,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ
#define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980 // 97.5% full scale (1950dps for 2000dps gyro) #define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980 // 97.5% full scale (1950dps for 2000dps gyro)
#define GYRO_OVERFLOW_RESET_THRESHOLD 30340 // 92.5% full scale (1850dps for 2000dps gyro) #define GYRO_OVERFLOW_RESET_THRESHOLD 30340 // 92.5% full scale (1850dps for 2000dps gyro)
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 4); PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 5);
#ifndef GYRO_CONFIG_USE_GYRO_DEFAULT #ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1