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AP_Compass: run lsm303d at 91Hz, not 100Hz

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Peter and I have discovered an odd behaviour with the lsm303d mag. If
you fetch data a bit too soon then it will give a peridic oscillation
in the output.

Checking the data ready bit in the status register doesn't help. The
only fix I've found is to run the sampling at a bit lower rate
This commit is contained in:
Andrew Tridgell 2018-06-18 18:11:29 +10:00
parent 0faab853cb
commit 3d9126ec4a
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_Compass/AP_Compass_LSM303D.cpp
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@ -273,8 +273,9 @@ bool AP_Compass_LSM303D::init(enum Rotation rotation)
_dev->set_device_type(DEVTYPE_LSM303D);
set_dev_id(_compass_instance, _dev->get_bus_id());
// read at 100Hz
_dev->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_LSM303D::_update, void));
// read at 91Hz. We don't run at 100Hz as fetching data too fast can cause some very
// odd periodic changes in the output data
_dev->register_periodic_callback(11000, FUNCTOR_BIND_MEMBER(&AP_Compass_LSM303D::_update, void));
return true;
}