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AP_InertialSensor: enable 180Hz LPF on ICM42670

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Andrew Tridgell 2022-07-20 13:26:59 +10:00 committed by Randy Mackay
parent 929cc22928
commit 84f493664d
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp
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@ -72,7 +72,9 @@ static const float GYRO_SCALE = (0.0174532f / 16.4f);
// registers for ICM-42670, multi-bank // registers for ICM-42670, multi-bank
#define INV3REG_70_PWR_MGMT0 0x1F #define INV3REG_70_PWR_MGMT0 0x1F
#define INV3REG_70_GYRO_CONFIG0 0x20 #define INV3REG_70_GYRO_CONFIG0 0x20
#define INV3REG_70_GYRO_CONFIG1 0x23
#define INV3REG_70_ACCEL_CONFIG0 0x21 #define INV3REG_70_ACCEL_CONFIG0 0x21
#define INV3REG_70_ACCEL_CONFIG1 0x24
#define INV3REG_70_FIFO_COUNTH 0x3D #define INV3REG_70_FIFO_COUNTH 0x3D
#define INV3REG_70_FIFO_DATA 0x3F #define INV3REG_70_FIFO_DATA 0x3F
#define INV3REG_70_INTF_CONFIG0 0x35 #define INV3REG_70_INTF_CONFIG0 0x35
@ -426,11 +428,13 @@ void AP_InertialSensor_Invensensev3::set_filter_and_scaling(void)
register_write(INV3REG_70_PWR_MGMT0, 0x0f); register_write(INV3REG_70_PWR_MGMT0, 0x0f);
hal.scheduler->delay_microseconds(300); hal.scheduler->delay_microseconds(300);
// setup gyro for 1.6kHz // setup gyro for 1.6kHz, with 180Hz LPF
register_write(INV3REG_70_GYRO_CONFIG0, 0x05); register_write(INV3REG_70_GYRO_CONFIG0, 0x05);
register_write(INV3REG_70_GYRO_CONFIG1, 0x01);
// setup accel for 1.6kHz // setup accel for 1.6kHz, with 180Hz LPF
register_write(INV3REG_70_ACCEL_CONFIG0, 0x05); register_write(INV3REG_70_ACCEL_CONFIG0, 0x05);
register_write(INV3REG_70_ACCEL_CONFIG1, 0x01);
} else { } else {
// enable gyro and accel in low-noise modes // enable gyro and accel in low-noise modes
register_write(INV3REG_PWR_MGMT0, 0x0F); register_write(INV3REG_PWR_MGMT0, 0x0F);