Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 08:13:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: drop MMC5xx3 sample rate to 100Hz

Browse Source 
this was consuming too much of the I2C bus sampling at 1kHz
This commit is contained in:
Andrew Tridgell 2023-03-06 21:20:14 +11:00 committed by Tom Pittenger
parent 2781f65d56
commit 9cda7b5ccc
1 changed files with 9 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
View File

@ -101,9 +101,10 @@ bool AP_Compass_MMC5XX3::init()
// 10ms minimum startup time // 10ms minimum startup time
hal.scheduler->delay(15); hal.scheduler->delay(15);
if (!dev->write_register(REG_CONTROL1, REG_CONTROL1_BW0 | REG_CONTROL1_BW1)) { // setup for 100Hz output
if (!dev->write_register(REG_CONTROL1, 0)) {
return false; return false;
} // // This BW config sets the sensor measurement time to 0.5ms and filter bandwidth to 800Hz }
/* register the compass instance in the frontend */ /* register the compass instance in the frontend */
@ -124,8 +125,8 @@ bool AP_Compass_MMC5XX3::init()
dev->set_retries(1); dev->set_retries(1);
// call timer() at 1kHz // call timer() at 100Hz
dev->register_periodic_callback(1000, dev->register_periodic_callback(10000U,
FUNCTOR_BIND_MEMBER(&AP_Compass_MMC5XX3::timer, void)); FUNCTOR_BIND_MEMBER(&AP_Compass_MMC5XX3::timer, void));
return true; return true;
@ -134,10 +135,10 @@ bool AP_Compass_MMC5XX3::init()
void AP_Compass_MMC5XX3::timer() void AP_Compass_MMC5XX3::timer()
{ {
// recalculate the offset with set/reset operation every measure_count_limit measurements // recalculate the offset with set/reset operation every measure_count_limit measurements
// sensor is read at about 500Hz, so about every 10 seconds // sensor is read at about 100Hz, so about every 10 seconds
const uint16_t measure_count_limit = 5000; const uint16_t measure_count_limit = 1000U;
const uint16_t zero_offset = 32768; // 16 bit mode const uint16_t zero_offset = 32768U; // 16 bit mode
const uint16_t sensitivity = 4096; // counts per Gauss, 16 bit mode const uint16_t sensitivity = 4096U; // counts per Gauss, 16 bit mode
constexpr float counts_to_milliGauss = 1.0e3f / sensitivity; constexpr float counts_to_milliGauss = 1.0e3f / sensitivity;
/* /*