From 37bd1d65fdeeb02ceec0537b864eddd1add448bc Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sat, 5 Mar 2016 22:35:09 +0100
Subject: [PATCH] Fix 1000 looptime auto config

---
 src/main/io/serial_msp.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 7dd0e84ad..122f2e77b 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -132,10 +132,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
                 masterConfig.mag_hardware = 1;
                 masterConfig.pid_process_denom = 2;
             }
+            masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
         } else {
             masterConfig.gyro_lpf = 0;
             masterConfig.gyro_sync_denom = 8;
-            masterConfig.pid_process_denom = 1;
             masterConfig.acc_hardware = 0;
             masterConfig.baro_hardware = 0;
             masterConfig.mag_hardware = 0;
@@ -159,8 +159,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
                     masterConfig.pid_process_denom = 2;
                 }
             }
+            masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
         } else {
             masterConfig.gyro_lpf = 0;
+
             masterConfig.gyro_sync_denom = 8;
             masterConfig.acc_hardware = 0;
             masterConfig.baro_hardware = 0;
@@ -168,7 +170,6 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             masterConfig.pid_process_denom = 1;
         }
 #endif
-        masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
 
         if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
     }