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Merge pull request #9642 from IllusionFpv/constrain-pidloop-for-bidir 

Change pidloop constraint when dshot bidir is enabled
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Michael Keller 2020-03-28 13:51:01 +13:00 committed by GitHub
parent 5b374c6fe0 aa9e8bdbde
commit f2ef33cbdd
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1 changed files with 3 additions and 0 deletions
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3
src/main/config/config.c
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@ -657,6 +657,9 @@ void validateAndFixGyroConfig(void)
}
} else {
const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
if (motorConfig()->dev.useDshotTelemetry) {
motorUpdateRestriction *= 2;
}
if (pidLooptime < motorUpdateRestriction) {
uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {