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AP_Compass: use AK09915 at 200Hz continuous mode

This commit is contained in:
Willian Galvani 2022-01-10 16:05:23 -03:00
parent 18c214907a
commit 5650644064
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Compass/AP_Compass_AK09916.cpp
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@ -332,7 +332,10 @@ bool AP_Compass_AK09916::_check_id()
}
bool AP_Compass_AK09916::_setup_mode() {
return _bus->register_write(REG_CNTL2, 0x08); //Continuous Mode 2
if (_devtype == DEVTYPE_AK09915) {
return _bus->register_write(REG_CNTL2, 0xA); //Continuous Mode 5 - 200Hz
}
return _bus->register_write(REG_CNTL2, 0x08); //Continuous Mode 4 - 100Hz
}
bool AP_Compass_AK09916::_reset()