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Correction in watchdog // old dT 

restore old dT
This commit is contained in:
borisbstyle 2015-08-17 22:10:56 +02:00
parent ac5ca52c58
commit bb4b5526cc
1 changed files with 2 additions and 7 deletions
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9
src/main/mw.c
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@ -689,15 +689,10 @@ void processRx(void)
// Gyro Low Pass
void filterGyro(void) {
int axis;
static float dTGyro;
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
if (!dTGyro) {
dTGyro = (float)targetLooptime * 0.000001f;
}
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dTGyro);
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dT);
}
}
void getArmingChannel(modeActivationCondition_t *modeActivationConditions, uint8_t *armingChannel) {
@ -812,7 +807,7 @@ bool runLoop(uint32_t loopTime) {
if (masterConfig.syncGyroToLoop) {
if (ARMING_FLAG(ARMED)) {
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - loopTime + GYRO_WATCHDOG_DELAY) >= 0) {
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
loopTrigger = true;
}
}