Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-22 07:45:29 +03:00
Code Issues Wiki Activity

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

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

7
src/main/main.c
View file

@ -580,9 +580,14 @@ void init(void)
afatfs_init();
#endif
if (masterConfig.gyro_lpf) masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
if (masterConfig.gyro_lpf) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyro_sync_denom = 1;
}
setTargetPidLooptime(masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
initBlackbox();
#endif