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Refactoring of IMU and ACC

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This commit is contained in:
Štěpán Dalecký 2022-01-20 20:37:23 +01:00
parent b6b24ba946
commit f85ebba6a4
24 changed files with 141 additions and 195 deletions
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4
src/main/fc/core.c
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@ -996,10 +996,10 @@ void processRxModes(timeUs_t currentTimeUs)
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(acc.sampleRateHz / (float)imuConfig()->imu_process_denom));
} else {
LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(acc.sampleRateHz / 10.0f));
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {