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AP_InertialSensor: re-enable notch filter on 42688

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thanks to Andy for pointing out this is for an internal resonance
This commit is contained in:
Andrew Tridgell 2022-07-20 18:33:43 +10:00 committed by Randy Mackay
parent 84f493664d
commit 5f62658383
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp
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@ -544,8 +544,7 @@ bool AP_InertialSensor_Invensensev3::hardware_init(void)
register_write(INV3REG_70_INTF_CONFIG0, 0x40, true); register_write(INV3REG_70_INTF_CONFIG0, 0x40, true);
} }
if (inv3_type == Invensensev3_Type::ICM42688) { if (inv3_type == Invensensev3_Type::ICM42688) {
// setup anti-alias filters for 488Hz on gyro and accel, notch disabled // setup anti-alias filters for 488Hz on gyro and accel, notch left at default
register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC2, 0xA1);
register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC3, 11); // GYRO_AAF_DELT register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC3, 11); // GYRO_AAF_DELT
register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC4, 122); // GYRO_AAF_DELTSQR register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC4, 122); // GYRO_AAF_DELTSQR
register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC5, 0x80); // GYRO_AAF_BITSHIFT&GYRO_AAF_DELTSQR register_write_bank(1, INV3REG_GYRO_CONFIG_STATIC5, 0x80); // GYRO_AAF_BITSHIFT&GYRO_AAF_DELTSQR