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AP_HAL: allow individual boards to define HAL_INS_RATE_LOOP

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allow fast rate loop on F4 with one IMU
This commit is contained in:
Andy Piper 2025-01-01 17:06:12 +00:00 committed by Andrew Tridgell
parent 01345e5a38
commit 2b46f5a20b
1 changed files with 10 additions and 1 deletions
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11
libraries/AP_HAL/board/chibios.h
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@ -141,8 +141,17 @@
#define HAL_USE_QUADSPI (HAL_USE_QUADSPI1 || HAL_USE_QUADSPI2)
#define HAL_USE_OCTOSPI (HAL_USE_OCTOSPI1 || HAL_USE_OCTOSPI2)
#if defined(STM32H7) || defined(STM32F7)
#ifndef HAL_INS_RATE_LOOP
#if defined(STM32H7) || defined(STM32F7) || (defined(STM32F4) \
&& defined(INS_MAX_INSTANCES) && INS_MAX_INSTANCES == 1)
/* F405 tested successfully with:
INS_GYRO_RATE = 1 (2kHz)
SCHED_LOOP_RATE = 200
FSTRATE_DIV = 2 (1kHz)
FSTRATE_ENABLE = 1
SERVO_DSHOT_RATE = 1 (1kHz)*/
#define HAL_INS_RATE_LOOP 1
#else
#define HAL_INS_RATE_LOOP 0
#endif
#endif