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Rework scheduler interaction with realtime process // Detailled task manager // Fix gyro sync (was broken)

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Fix cycletime calculations
This commit is contained in:
borisbstyle 2016-02-25 17:51:24 +01:00
parent 9e1f78075d
commit f7091f48d0
6 changed files with 86 additions and 16 deletions
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2
src/main/flight/pid.c
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@ -78,7 +78,7 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
void setTargetPidLooptime(uint8_t pidProcessDenom) {
targetPidLooptime = targetLooptime * pidProcessDenom;
targetPidLooptime = targetLooptime / pidProcessDenom;
}
void pidResetErrorAngle(void)