BMI270 - gyro/pid denom default 1

emuflight · Jun 6, 2023 · b234771 · b234771
1 parent e89b314
commit b234771
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -86,7 +86,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
 
 #ifdef STM32F10X
 #define PID_PROCESS_DENOM_DEFAULT 1
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define PID_PROCESS_DENOM_DEFAULT 1
 #else
 #define PID_PROCESS_DENOM_DEFAULT 2

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -210,7 +210,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ
 #ifdef STM32F10X
 #define GYRO_SYNC_DENOM_DEFAULT 8
 #elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
-   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_SYNC_DENOM_DEFAULT 1
 #else
 #define GYRO_SYNC_DENOM_DEFAULT 3