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Merge pull request #2023 from martinbudden/bf_gyro_fixes 

Minor fixes to gyro ISR code, as per review
This commit is contained in:
borisbstyle 2017-01-06 11:47:29 +01:00 committed by GitHub
parent e82785d76f e513fd8472
commit 9fe1ebd1aa
2 changed files with 10 additions and 1 deletions
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4
src/main/fc/config.c
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@ -1054,6 +1054,10 @@ void validateAndFixGyroConfig(void)
#endif
}
#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
gyroConfig()->gyro_isr_update = false;
#endif
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;

7
src/main/sensors/gyro.c
View File

@ -66,7 +66,11 @@
gyro_t gyro; // gyro access functions
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
static volatile int32_t gyroADC[XYZ_AXIS_COUNT];
#else
static int32_t gyroADC[XYZ_AXIS_COUNT];
#endif
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig;
@ -391,7 +395,8 @@ static bool gyroUpdateISR(gyroDev_t* gyroDev)
float gyroADCf = (float)gyroADC[axis] * gyroDev->scale;
gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
gyro.gyroADCf[axis] = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
}
return true;
}