imu: set sample freq to 50hz

diff --git a/imuboard/MadgwickAHRS.c b/imuboard/MadgwickAHRS.c
index c6dfaee..b9a7b91 100644 (file)
--- a/imuboard/MadgwickAHRS.c
+++ b/imuboard/MadgwickAHRS.c
@@ -34,9 +34,8 @@
 #include "MadgwickAHRS.h"
 #include <math.h>
 
-//#define sampleFreq   512.0f          // sample frequency in Hz
-//#define sampleFreq   46.0f           // sample frequency in Hz
-#define sampleFreq     85.0f           // sample frequency in Hz
+/* in Hz, must be synchronized with imu.c callback */
+#define sampleFreq     50.0f
 #define betaDef                0.1f            // 2 * proportional gain
 
 static float invSqrt(float x)