LP-150 - prevent stab error conditions

flight/modules/Stabilization/inc/stabilization.h

@@ -80,9 +80,12 @@ extern StabilizationData stabSettings;
 // must be same as eventdispatcher to avoid needing additional mutexes
 #define CBTASK_PRIORITY     CALLBACK_TASK_FLIGHTCONTROL
 
+#ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
 // outer loop only executes every 4th uavobject update to save CPU
 #define OUTERLOOP_SKIPCOUNT 4
-
+#else
+#define OUTERLOOP_SKIPCOUNT ATTITUDE_SENSORS_DOWNSAMPLE
+#endif // STABILIZATION_ATTITUDE_DOWNSAMPLED
 #endif // STABILIZATION_H
 
 /**

flight/modules/Stabilization/outerloop.c

@@ -365,14 +365,19 @@ static void stabilizationOuterloopTask()
 
 static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
+#ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
     // to reduce CPU utilization, outer loop is not executed on every state update
     static uint8_t cpusaver = 0;
 
     if ((cpusaver++ % OUTERLOOP_SKIPCOUNT) == 0) {
+#endif
     // this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
     AttitudeStateGet(&attitude);
     PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
+
+#ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
 }
+#endif
 }
 
 /**

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -94,6 +94,7 @@
 /* #define PIOS_INCLUDE_HCSR04 */
 
 #define PIOS_SENSOR_RATE            500.0f
+#define STABILIZATION_ATTITUDE_DOWNSAMPLED
 #define ATTITUDE_SENSORS_DOWNSAMPLE 4
 
 /* PIOS receiver drivers */