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AP_Compass: Decrease LIS3MDL ODR and timer

This commit is contained in:
Kevin Lopez Alvarez 2017-07-06 13:23:40 +02:00 committed by Andrew Tridgell
parent 16a96b0643
commit 17f2393c1b
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
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@ -98,7 +98,7 @@ bool AP_Compass_LIS3MDL::init()
dev->setup_checked_registers(5);
dev->write_register(ADDR_CTRL_REG1, 0x62, true); // 155Hz, UHP
dev->write_register(ADDR_CTRL_REG1, 0xFC, true); // 80Hz, UHP
dev->write_register(ADDR_CTRL_REG2, 0, true); // 4Ga range
dev->write_register(ADDR_CTRL_REG3, 0, true); // continuous
dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf
@ -124,7 +124,7 @@ bool AP_Compass_LIS3MDL::init()
set_dev_id(compass_instance, dev->get_bus_id());
// call timer() at 155Hz
dev->register_periodic_callback(1000000U/155U,
dev->register_periodic_callback(1000000U/80U,
FUNCTOR_BIND_MEMBER(&AP_Compass_LIS3MDL::timer, void));
return true;