{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1173","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1173/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1173/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1173/events","html_url":"https://github.com/cleanflight/cleanflight/pull/1173","id":98554273,"number":1173,"title":"Sync looptime to gyro interrupt ","user":{"login":"nksreera","id":12490831,"avatar_url":"https://avatars.githubusercontent.com/u/12490831?v=3","gravatar_id":"","url":"https://api.github.com/users/nksreera","html_url":"https://github.com/nksreera","followers_url":"https://api.github.com/users/nksreera/followers","following_url":"https://api.github.com/users/nksreera/following{/other_user}","gists_url":"https://api.github.com/users/nksreera/gists{/gist_id}","starred_url":"https://api.github.com/users/nksreera/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nksreera/subscriptions","organizations_url":"https://api.github.com/users/nksreera/orgs","repos_url":"https://api.github.com/users/nksreera/repos","events_url":"https://api.github.com/users/nksreera/events{/privacy}","received_events_url":"https://api.github.com/users/nksreera/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":39,"created_at":"2015-08-01T18:30:10Z","updated_at":"2015-08-04T20:19:33Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/1173","html_url":"https://github.com/cleanflight/cleanflight/pull/1173","diff_url":"https://github.com/cleanflight/cleanflight/pull/1173.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/1173.patch"},"body":"gyro interrupt at lpf 42hz fires every 1000us, with this change the loop is executed as soon as a gyro read is available. \r\nthis should benefit soft filters as well.\r\n\r\ncurrently it is settable on a profile using cli\r\nset sync_looptime=1\r\n\r\ntested on naze32 loop time is at 2000us with accelerometer\r\nand 1000us when acc_hardware=1\r\n\r\nshould be 1000us for f3 processors as well.\r\n\r\nfuture additions would be to calculate gyro soft filters in the interrupt so if gyro_lpf is set to 256 the soft filters are evaluated every 125us. "},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/127746427","html_url":"https://github.com/cleanflight/cleanflight/pull/1173#issuecomment-127746427","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1173","id":127746427,"user":{"login":"borisbstyle","id":10757508,"avatar_url":"https://avatars.githubusercontent.com/u/10757508?v=3","gravatar_id":"","url":"https://api.github.com/users/borisbstyle","html_url":"https://github.com/borisbstyle","followers_url":"https://api.github.com/users/borisbstyle/followers","following_url":"https://api.github.com/users/borisbstyle/following{/other_user}","gists_url":"https://api.github.com/users/borisbstyle/gists{/gist_id}","starred_url":"https://api.github.com/users/borisbstyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/borisbstyle/subscriptions","organizations_url":"https://api.github.com/users/borisbstyle/orgs","repos_url":"https://api.github.com/users/borisbstyle/repos","events_url":"https://api.github.com/users/borisbstyle/events{/privacy}","received_events_url":"https://api.github.com/users/borisbstyle/received_events","type":"User","site_admin":false},"created_at":"2015-08-04T20:19:33Z","updated_at":"2015-08-04T20:19:33Z","body":"@pulsar256 \r\nGREAT! Very happy it works! I trust the numbers.....all I wanted to know was if it works on MPU6000.\r\n\r\nI also finished my flight testing and all I have to say very happy! I did have to bring down those 2khz rates down to 1.6kh as it was a bit jittery and blheli ESC's having troubles arming, but that's no issue.\r\n1.6khz results were impressive!\r\n\r\nOff to few more tests and I will start getting this into my local. It would be helpfull if @hydra  would merge the latest filter PR as I also had to change some things on gyro filtering. It would be great if I can make a PR from the master with those changes."}}