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Gyro native rate sampling, filtering, and scheduler restructuring

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This commit is contained in:
Bruce Luckcuck 2020-01-06 07:52:35 -05:00
parent b11565efbe
commit f584780944
42 changed files with 718 additions and 421 deletions
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8
src/test/unit/blackbox_unittest.cc
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@ -75,14 +75,6 @@ TEST(BlackboxTest, TestInitIntervals)
EXPECT_EQ(0, blackboxPInterval);
EXPECT_EQ(4096, blackboxSInterval);
// 1kHz PIDloop
gyro.targetLooptime = gyroSetSampleRate(&gyroDev, GYRO_HARDWARE_LPF_1KHZ_SAMPLE, 1);
targetPidLooptime = gyro.targetLooptime * 1;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(8192, blackboxSInterval);
// 2kHz PIDloop
targetPidLooptime = 500;
blackboxInit();