From 0c054a1e62d34bad325e078f4761e6b896bf4055 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 21 Jul 2012 17:25:06 -0500 Subject: [PATCH] Speed up attitude loop on Revo to 666 Hz --- flight/Revolution/System/pios_board.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c index df4bfd74a..b9360bfef 100644 --- a/flight/Revolution/System/pios_board.c +++ b/flight/Revolution/System/pios_board.c @@ -217,7 +217,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, // Clock at 8 khz, downsampled by 8 for 1khz - .Smpl_rate_div = 15, + .Smpl_rate_div = 11, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,