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QUB-ASL / bzzz

Quadcopter with ESP32 and RaspberryPi
MIT License
7 stars 0 forks source link

Timer interrupt ISR #189

Closed jamie-54 closed 4 months ago

jamie-54 commented 5 months ago

Main Changes

implementation of a timer ISR to guarantee that the main loop on the ESP32 runs at a fixed rate.

Associated Issues

Tests

This has been tested on the quadcopter

jamie-54 commented 4 months ago

Can this be merged now?

alphaville commented 4 months ago

Yes, @jamie-54, let's merge this. You've set is up to run at 250Hz (sampling time of 4ms), right? I hope we're not getting timer overflows at this sampling rate. You said you've tried it and it works, right?

jamie-54 commented 4 months ago

Yes, @jamie-54, let's merge this. You've set is up to run at 250Hz (sampling time of 4ms), right? I hope we're not getting timer overflows at this sampling rate. You said you've tried it and it works, right?

Yea it seems to be working, I wasn't sure what frequency to set it to so went with 250Hz the same as the imu