From: Olivier Matz <zer0@droids-corp.org>
Date: Tue, 25 Nov 2014 22:21:15 +0000 (+0100)
Subject: imu: set sample freq to 50hz
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=fee9cc71698889a8e688161e6f9f9277092793ee;p=fpv.git

imu: set sample freq to 50hz
---

diff --git a/imuboard/MadgwickAHRS.c b/imuboard/MadgwickAHRS.c
index c6dfaee..b9a7b91 100644
--- 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)