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ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU.

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rmackay9 2012-08-30 16:52:10 +09:00
parent 5a3645d36a
commit 4e85e545bf
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/config.h
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@ -98,6 +98,17 @@
# endif
#endif
#if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
# define NUM_IMU_SAMPLES_FOR_200HZ 5
# define NUM_IMU_SAMPLES_FOR_100HZ 10
# define NUM_IMU_SAMPLES_FOR_50HZ 20
#endif
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
# define NUM_IMU_SAMPLES_FOR_200HZ 1
# define NUM_IMU_SAMPLES_FOR_100HZ 2
# define NUM_IMU_SAMPLES_FOR_50HZ 4
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.