From c7835f781dfd2264b6a89d7ea0a0f55cd1023b89 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Sat, 10 Dec 2016 10:03:18 +0000 Subject: [PATCH] Fixes issue 1789 --- src/main/sensors/gyro.c | 2 +- src/main/sensors/gyro.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 98c78bd7e..691597a5b 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -216,10 +216,10 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse) static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT]; static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT]; + gyroConfig = gyroConfigToUse; gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom); // Set gyro sample rate before initialisation gyro.dev.lpf = gyroConfig->gyro_lpf; gyro.dev.init(&gyro.dev); - gyroConfig = gyroConfigToUse; softLpfFilterApplyFn = nullFilterApply; notchFilter1ApplyFn = nullFilterApply; diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index 5d45d917c..656ec47f5 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -46,9 +46,9 @@ typedef struct gyroConfig_s { sensor_align_e gyro_align; // gyro alignment uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default. uint8_t gyro_sync_denom; // Gyro sample divider + uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen. uint8_t gyro_soft_lpf_type; uint8_t gyro_soft_lpf_hz; - uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen. uint16_t gyro_soft_notch_hz_1; uint16_t gyro_soft_notch_cutoff_1; uint16_t gyro_soft_notch_hz_2;