Fixes after discussion

betaflight · Dec 4, 2023 · 3f310ef · 3f310ef
1 parent cd5a01e
commit 3f310ef
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Showing 2 changed files with 12 additions and 19 deletions.
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -673,30 +673,19 @@ void validateAndFixGyroConfig(void)
         // check for looptime restrictions based on motor protocol. Motor times have safety margin
         float motorUpdateRestriction;
 
-#ifdef USE_DSHOT
-#if defined(STM32F4) || defined(STM32G4)
+#if defined(USE_DSHOT) && defined(USE_PID_DENOM_CHECK)
         /* If bidirectional DSHOT is being used on an F4 or G4 then force DSHOT300. The motor update restrictions then applied
          * will automatically consider the loop time and adjust pid_process_denom appropriately
          */
-        if (motorConfig()->dev.useDshotTelemetry && (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600)) {
-            motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
-        }
-#endif
-
-#ifdef USE_PID_DENOM_CHECK
-        if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600) {
-            if (gyro.sampleRateHz == 8000) {
-                if (featureIsEnabled(FEATURE_RX_SPI)) {
-                    pidConfigMutable()->pid_process_denom = motorConfig()->dev.useDshotTelemetry ? 4: 2;
-                } else {
-                    pidConfigMutable()->pid_process_denom = motorConfig()->dev.useDshotTelemetry ? 2: 1;
-                }
-            } else if (gyro.sampleRateHz == 3200 && motorConfig()->dev.useDshotTelemetry) {
-                pidConfigMutable()->pid_process_denom = featureIsEnabled(FEATURE_RX_SPI) ? 2: 1;
+        if (motorConfig()->dev.useDshotTelemetry) {
+            if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600) {
+                motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
+            }
+            if (gyro.sampleRateHz >= 4000) {
+                pidConfigMutable()->pid_process_denom = 2;
             }
         }
-#endif
-#endif
+#endif // USE_DSHOT && USE_PID_DENOM_CHECK
         switch (motorConfig()->dev.motorPwmProtocol) {
         case PWM_TYPE_STANDARD:
                 motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;

diff --git a/src/main/target/STM32G47X/target.h b/src/main/target/STM32G47X/target.h
@@ -72,5 +72,9 @@
 #define USE_ESCSERIAL
 
 #define USE_ADC
+
 #define USE_EXTI
+
+#define USE_PID_DENOM_CHECK
+
 #define USE_TIMER_UP_CONFIG