From b2347716b48e3e61d8dc1fa579b86d6d19e27a2b Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Tue, 6 Jun 2023 15:41:36 -0500
Subject: [PATCH] BMI270 - gyro/pid denom default 1

---
 src/main/flight/pid.c   | 2 +-
 src/main/sensors/gyro.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 2344beb3d5..49719a1ede 100644
--- 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
index 26e5b2fd0d..aa7eceaa2d 100644
--- 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