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Merge pull request #2014 from martinbudden/bf_gyro_isr

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Allow gyro read and filter in ISR for SPI gyros
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borisbstyle 2017-01-06 00:05:57 +01:00 • committed by GitHub
commit f0fc42b7f5
19 changed files with 193 additions and 51 deletions
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8
src/main/fc/config.c
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@ -1046,6 +1046,14 @@ void validateAndFixGyroConfig(void)
float samplingTime = 0.000125f;
if (gyroConfig()->gyro_use_32khz) {
#ifdef GYRO_SUPPORTS_32KHZ
samplingTime = 0.00003125;
#else
gyroConfig()->gyro_use_32khz = 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;