AP_HAL: allow fast rate loop on F4 with one IMU

ArduPilot · Jan 2, 2025 · aee979c · aee979c
1 parent c13a575
commit aee979c
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
@@ -142,7 +142,12 @@
 #define HAL_USE_OCTOSPI (HAL_USE_OCTOSPI1 || HAL_USE_OCTOSPI2)
 
 #ifndef HAL_INS_RATE_LOOP
-#if defined(STM32H7) || defined(STM32F7)
+#if defined(STM32H7) || defined(STM32F7) || (defined(STM32F4) && INS_MAX_INSTANCES == 1)
+/* F405 tested successfully with:
+   INS_GYRO_RATE = 1 (2kHz)
+   SCHED_LOOP_RATE = 200
+   FSTRATE_DIV = 2 (1kHz)
+   SERVO_DSHOT_RATE = 1 (1kHz)*/
 #define HAL_INS_RATE_LOOP 1
 #else
 #define HAL_INS_RATE_LOOP 0