Add random variability to looptime for testing (assuming looptime is >0)

CAUTION: NO PROPS! DON'T FLY! NO PROPS! DON'T FLY!
flysherlockair · Mar 16, 2015 · 664c932 · 664c932
1 parent 1e7fb08
commit 664c932
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/main/mw.c b/src/main/mw.c
@@ -670,6 +670,9 @@ void loop(void)
     if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
         loopTime = currentTime + masterConfig.looptime;
 
+        // Use the currentTime as a source of entropy to add random variability to the loop time
+        loopTime += 301 * (currentTime % 511);
+
         imuUpdate(&currentProfile->accelerometerTrims, masterConfig.mixerMode);
 
         // Measure loop rate just after reading the sensors