MPU_INT Interrupt vs Loop time

[blezalex]

Does cleanflight or baseflight or any other 32bit flight controller software actually use the interrupt from GYRO/ACC? I scanned through the code and did not spot the usages.. It seems like that interrupt could be used instead of the loop_time magic, in order to calculate the most presize IMU data as well as calculate motor outputs.

It it used? Is there a reason why it is not used ?

I assume Atmega 328 could not do the math fast enough, can naze32 processor do it? I assume yes..

My (possibly naive) feeling is that changing code to use the interrupt could improve the flight performance more that oneshot does.. or even better when combined

Thanks

[mj666]

Most of the available boards don't have the interrupt even connected from the MPU to the STM32. BF and CF don't use the interupt likely for this reason. There are other STM32 FC firmware implementations wich make use of interrupts (i.e. Taulabs).