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AP_InertialSensor: re-work for more flexible main loop rates

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This commit is contained in:
Andrew Tridgell 2015-12-26 14:11:33 +11:00 committed by Randy Mackay
parent 93ef881109
commit 17fc58f3cd
2 changed files with 5 additions and 27 deletions
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18
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -430,7 +430,7 @@ AP_InertialSensor_Backend *AP_InertialSensor::_find_backend(int16_t backend_id,
} }
void void
AP_InertialSensor::init(Sample_rate sample_rate) AP_InertialSensor::init(uint16_t sample_rate)
{ {
// remember the sample rate // remember the sample rate
_sample_rate = sample_rate; _sample_rate = sample_rate;
@ -453,21 +453,7 @@ AP_InertialSensor::init(Sample_rate sample_rate)
_init_gyro(); _init_gyro();
} }
switch (sample_rate) { _sample_period_usec = 1000*1000UL / _sample_rate;
case RATE_50HZ:
_sample_period_usec = 20000;
break;
case RATE_100HZ:
_sample_period_usec = 10000;
break;
case RATE_200HZ:
_sample_period_usec = 5000;
break;
case RATE_400HZ:
default:
_sample_period_usec = 2500;
break;
}
// establish the baseline time between samples // establish the baseline time between samples
_delta_time = 0; _delta_time = 0;

14
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -49,14 +49,6 @@ public:
AP_InertialSensor(); AP_InertialSensor();
static AP_InertialSensor *get_instance(); static AP_InertialSensor *get_instance();
// the rate that updates will be available to the application
enum Sample_rate {
RATE_50HZ = 50,
RATE_100HZ = 100,
RATE_200HZ = 200,
RATE_400HZ = 400
};
enum Gyro_Calibration_Timing { enum Gyro_Calibration_Timing {
GYRO_CAL_NEVER = 0, GYRO_CAL_NEVER = 0,
GYRO_CAL_STARTUP_ONLY = 1 GYRO_CAL_STARTUP_ONLY = 1
@ -70,7 +62,7 @@ public:
/// ///
/// @param style The initialisation startup style. /// @param style The initialisation startup style.
/// ///
void init(Sample_rate sample_rate); void init(uint16_t sample_rate_hz);
/// Register a new gyro/accel driver, allocating an instance /// Register a new gyro/accel driver, allocating an instance
/// number /// number
@ -179,7 +171,7 @@ public:
} }
// return the selected sample rate // return the selected sample rate
Sample_rate get_sample_rate(void) const { return _sample_rate; } uint16_t get_sample_rate(void) const { return _sample_rate; }
// return the main loop delta_t in seconds // return the main loop delta_t in seconds
float get_loop_delta_t(void) const { return _loop_delta_t; } float get_loop_delta_t(void) const { return _loop_delta_t; }
@ -275,7 +267,7 @@ private:
uint8_t _backend_count; uint8_t _backend_count;
// the selected sample rate // the selected sample rate
Sample_rate _sample_rate; uint16_t _sample_rate;
float _loop_delta_t; float _loop_delta_t;
// Most recent accelerometer reading // Most recent accelerometer reading