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Fix 32KHz gyro targetLooptime calculation 

The target loop time was being calculated incorrectly for 32KHz gyros. Constant shoud be 31.25 rather than 31.5.
This commit is contained in:
Bruce Luckcuck 2018-07-29 10:12:24 -04:00
parent f4011b3dc3
commit 359290d1df
1 changed files with 1 additions and 1 deletions
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2
src/main/drivers/accgyro/gyro_sync.c
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@ -54,7 +54,7 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
if (lpf == GYRO_HARDWARE_LPF_NORMAL || lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) { if (lpf == GYRO_HARDWARE_LPF_NORMAL || lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
if (gyro_use_32khz) { if (gyro_use_32khz) {
gyro->gyroRateKHz = GYRO_RATE_32_kHz; gyro->gyroRateKHz = GYRO_RATE_32_kHz;
gyroSamplePeriod = 31.5f; gyroSamplePeriod = 31.25f;
} else { } else {
switch (gyro->mpuDetectionResult.sensor) { switch (gyro->mpuDetectionResult.sensor) {
case BMI_160_SPI: case BMI_160_SPI: