From 0fcfb95120e96c2f613963b5428e3a92f61f484e Mon Sep 17 00:00:00 2001 From: Bruce Luckcuck Date: Sun, 29 Jul 2018 10:43:23 -0400 Subject: [PATCH] Change default gyro loop to 2.67KHz for I2C gyro targets Improves dynamic filter operation by providing a wider sampling window due to the higher gyro loop rate. Makes the dynamic more useful by default on targets like SPRACINGF3. --- src/main/sensors/gyro.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index c006a2a43..068d16f7a 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -169,7 +169,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ || defined(USE_GYRO_SPI_ICM20689) #define GYRO_SYNC_DENOM_DEFAULT 1 #else -#define GYRO_SYNC_DENOM_DEFAULT 4 +#define GYRO_SYNC_DENOM_DEFAULT 3 #endif #define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980 // 97.5% full scale (1950dps for 2000dps gyro) -- 2.11.4.GIT