Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/inc/tasks.h

Revision:
13:6a983f2d42ea
Parent:
12:953d25061417
Child:
16:9072cd6fa8d1
--- a/RTOS-Setup/inc/tasks.h	Fri May 02 17:01:56 2014 +0000
+++ b/RTOS-Setup/inc/tasks.h	Fri May 02 17:14:27 2014 +0000
@@ -9,12 +9,12 @@
 #include "Task3.h"
 #include "Task4.h"
 
-// 1khz / (1 + 9) = 100 Hz (Fsample)
-#define IMU_SAMPLE_RATE_DIVIDER 4
-// Fsample Hz / (1 + 0) = 100 Hz
-#define IMU_FIFO_RATE_DIVIDER   0x01
+// 1khz / (1 + 4) = 200 Hz (Fsample)
+#define IMU_SAMPLE_RATE_DIVIDER 9
+// Fsample Hz / (1 + 1) = 100 Hz
+#define IMU_FIFO_RATE_DIVIDER   0x00
 
-#define TASK1_FREQUENCY 200
+#define TASK1_FREQUENCY 100
 #define TASK2_FREQUENCY 200
 #define TASK3_FREQUENCY 50
 #define TASK4_FREQUENCY 200