From a5278740bd4e00d4dc1f3b024b23d23d21dc1a6c Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sat, 27 Feb 2016 15:56:45 +0100
Subject: [PATCH] Improve performane on all targets // remove emf_avoidance

---
 src/main/drivers/gyro_sync.h |  2 +-
 src/main/io/serial_msp.c     | 16 +++++++++-------
 src/main/main.c              |  6 ++----
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/main/drivers/gyro_sync.h b/src/main/drivers/gyro_sync.h
index 330d59e38..ab181385d 100644
--- a/src/main/drivers/gyro_sync.h
+++ b/src/main/drivers/gyro_sync.h
@@ -5,7 +5,7 @@
  *      Author: borisb
  */
 
-#define INTERRUPT_WAIT_TIME 8
+#define INTERRUPT_WAIT_TIME 0
 
 extern uint32_t targetLooptime;
 
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 0a9e45d22..deb8594ab 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -124,8 +124,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
                 masterConfig.pid_process_denom = 2;
             } else if (looptime < 375) {
                 masterConfig.acc_hardware = 0;
-                masterConfig.baro_hardware = 0;
-                masterConfig.mag_hardware = 0;
+                masterConfig.baro_hardware = 1;
+                masterConfig.mag_hardware = 1;
                 masterConfig.pid_process_denom = 2;
             }
         } else {
@@ -144,20 +144,15 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             gyroSampleRate = 125;
             maxDivider = 8;
             masterConfig.pid_process_denom = 1;
-            masterConfig.emf_avoidance = 0;
             if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
             if (looptime < 250) {
                 masterConfig.pid_process_denom = 3;
-                masterConfig.emf_avoidance = 1;
             } else if (looptime < 375) {
                 if (currentProfile->pidProfile.pidController == 2) {
                     masterConfig.pid_process_denom = 3;
                 } else {
                     masterConfig.pid_process_denom = 2;
                 }
-#ifndef CC3D
-                masterConfig.emf_avoidance = 1;
-#endif
             }
         } else {
             masterConfig.gyro_lpf = 1;
@@ -168,6 +163,13 @@ void setGyroSamplingSpeed(uint16_t looptime) {
         }
 #endif
         masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
+
+        if (looptime < 1000) {
+            masterConfig.use_fast_pwm = 1;
+            masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f));
+        } else {
+            masterConfig.use_fast_pwm = 0;
+        }
     }
 }
 
diff --git a/src/main/main.c b/src/main/main.c
index 07d03f581..58941dc31 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -668,14 +668,12 @@ int main(void) {
     setTaskEnabled(TASK_GYROPID, true);
     if(sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);
-        switch(targetLooptime) {
+        switch(targetLooptime) {  // Switch statement kept in place to change acc rates in the future
             case(500):
-                accTargetLooptime = 5000;
-                break;
             case(375):
             case(250):
             case(125):
-                accTargetLooptime = 10000;
+                accTargetLooptime = 1000;
                 break;
             default:
             case(1000):