allow 0 for looptime to go back to not-rate-limited loop.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@183 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -142,7 +142,7 @@ const clivalue_t valueTable[] = {
     { "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 },
     { "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 },
     { "nav_slew_rate", VAR_UINT8, &cfg.nav_slew_rate, 0, 100 },
-    { "looptime", VAR_UINT16, &cfg.looptime, 1500, 9000 },
+    { "looptime", VAR_UINT16, &cfg.looptime, 0, 9000 },
     { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200 },
     { "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200 },
     { "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200 },

src/config.c

@@ -89,7 +89,7 @@ void checkFirstTime(bool reset)
     featureClearAll();
     featureSet(FEATURE_VBAT);
 
-    cfg.looptime = 3000;
+    cfg.looptime = 0;
     cfg.P8[ROLL] = 40;
     cfg.I8[ROLL] = 30;
     cfg.D8[ROLL] = 23;

src/mw.c

@@ -523,7 +523,7 @@ void loop(void)
     }
 
     currentTime = micros();
-    if (currentTime > loopTime) {
+    if (cfg.looptime == 0 || currentTime > loopTime) {
         loopTime = currentTime + cfg.looptime;
 
         computeIMU();