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Auto config protection for 4K motor update with oneshot125

This commit is contained in:
borisbstyle 2016-03-02 14:13:32 +01:00
parent 795feddf71
commit 39fb722536
1 changed files with 1 additions and 2 deletions
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3
src/main/io/serial_msp.c
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@ -168,8 +168,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
#endif #endif
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider); masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f)); if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
} }
} }