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New Auto config defaults motor value

This commit is contained in:
borisbstyle 2016-02-28 01:33:00 +01:00
parent 977fec408a
commit 10b629c736
1 changed files with 2 additions and 5 deletions
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7
src/main/io/serial_msp.c
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@ -166,11 +166,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
if (looptime < 1000) {
masterConfig.force_motor_pwm_rate = 1;
if (masterConfig.use_multiShot || masterConfig.use_oneshot42) {
masterConfig.motor_pwm_rate = 4200;
} else {
masterConfig.motor_pwm_rate = 2700;
}
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f)) + 100;
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
} else {
masterConfig.force_motor_pwm_rate = 0;
}