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Allow individual boards to define HAL_INS_RATE_LOOP and enable on F4 with one IMU #28984

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merged 1 commit into from
Jan 7, 2025
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Allow individual boards to define HAL_INS_RATE_LOOP and enable on F4 with one IMU #28984

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11 changes: 10 additions & 1 deletion libraries/AP_HAL/board/chibios.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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/* F405 tested successfully with:
INS_GYRO_RATE = 1 (2kHz)
SCHED_LOOP_RATE = 200
FSTRATE_DIV = 2 (1kHz)
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FSTRATE_ENABLE = 1
SERVO_DSHOT_RATE = 1 (1kHz)*/
#define HAL_INS_RATE_LOOP 1
#else
#define HAL_INS_RATE_LOOP 0
#endif
#endif
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