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Code Issues Releases Activity

OP-156 AHRS: Make the account for the fact the analog data is downsampled two

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times for each EKF update

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2193 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-12-04 18:13:08 +00:00 committed by peabody124
parent 476d548da9
commit e6a21977f1
1 changed files with 1 additions and 1 deletions
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2
flight/PiOS/Boards/STM32103CB_AHRS.h
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@ -228,7 +228,7 @@ TIM8 | | | |
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling)
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
//-------------------------
// GPIO