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AP_InertialSensor: PX4: publish gyro raw sample rate

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That enables delta angle calculation.
This commit is contained in:
Gustavo Jose de Sousa 2015-09-21 11:26:35 -03:00 committed by Andrew Tridgell
parent 25a499a41f
commit 31a49d318c
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -122,6 +122,7 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
if (samplerate < 100 || samplerate > 10000) { if (samplerate < 100 || samplerate > 10000) {
hal.scheduler->panic("Invalid gyro sample rate"); hal.scheduler->panic("Invalid gyro sample rate");
} }
_set_gyro_raw_sample_rate(_gyro_instance[i], (uint32_t)samplerate);
_gyro_sample_time[i] = 1.0f / samplerate; _gyro_sample_time[i] = 1.0f / samplerate;
} }
@ -197,7 +198,7 @@ void AP_InertialSensor_PX4::_set_accel_filter_frequency(uint8_t filter_hz)
void AP_InertialSensor_PX4::_set_gyro_filter_frequency(uint8_t filter_hz) void AP_InertialSensor_PX4::_set_gyro_filter_frequency(uint8_t filter_hz)
{ {
for (uint8_t i=0; i<_num_gyro_instances; i++) { for (uint8_t i=0; i<_num_gyro_instances; i++) {
float samplerate = 1.0f / _gyro_sample_time[i]; float samplerate = _gyro_raw_sample_rate(_gyro_instance[i]);
_gyro_filter[i].set_cutoff_frequency(samplerate, filter_hz); _gyro_filter[i].set_cutoff_frequency(samplerate, filter_hz);
} }
} }