From 00ae128e3dd7dd4308117dd5786ae03fccdc3d33 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sat, 15 Aug 2015 15:48:38 +0200
Subject: [PATCH] constdT for gyro fliter

dTGyro
---
 src/main/common/filter.h | 1 -
 src/main/mw.c            | 7 ++++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 7ea2d3499..9d867fc09 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -8,7 +8,6 @@
 typedef struct filterStatePt1_s {
 	float state;
 	float RC;
-	float constdT;
 } filterStatePt1_t;
 
 float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float dt);
diff --git a/src/main/mw.c b/src/main/mw.c
index 67e962832..c38ac724d 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -689,10 +689,15 @@ void processRx(void)
 // Gyro Low Pass
 void filterGyro(void) {
     int axis;
+    static float dTGyro;
     static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
 
+    if (!dTGyro) {
+        dTGyro = (float)targetLooptime * 0.000001f;
+    }
+
     for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dT);
+        gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dTGyro);
     }
 }
 void getArmingChannel(modeActivationCondition_t *modeActivationConditions, uint8_t *armingChannel) {