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AP_InertialSensor: the accel fast-sampling rate of MPU6500 is 4k,not 1k

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Wu 2023-02-13 11:41:52 +08:00 committed by Peter Barker
parent 9179bce1ca
commit 0f1253b393
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -894,7 +894,7 @@ void AP_InertialSensor_Invensense::_set_filter_register(void)
_gyro_backend_rate_hz *= fast_sampling_rate;
// calculate rate we will be giving accel samples to the backend
if (_mpu_type >= Invensense_MPU9250) {
if (_mpu_type >= Invensense_MPU6500) {
_accel_fifo_downsample_rate = MAX(4 / fast_sampling_rate, 1);
_accel_backend_rate_hz *= MIN(fast_sampling_rate, 4);
} else {