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Fix 1000 looptime auto config

This commit is contained in:
borisbstyle 2016-03-05 22:35:09 +01:00
parent dc6529ec9e
commit 37bd1d65fd
1 changed files with 3 additions and 2 deletions
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5
src/main/io/serial_msp.c
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@ -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;
}