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ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.

This commit is contained in:
rmackay9 2012-12-09 14:27:33 +09:00
parent 39013a33bc
commit a4ee5d2c81
2 changed files with 3 additions and 3 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -193,7 +193,7 @@ DataFlash_APM1 DataFlash(&spi_semaphore);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at // the rate we run the main loop at
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_100HZ; static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_200HZ;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Sensors // Sensors
@ -953,7 +953,7 @@ void loop()
// We want this to execute fast // We want this to execute fast
// ---------------------------- // ----------------------------
num_samples = ins.num_samples_available(); num_samples = ins.num_samples_available();
if (num_samples >= 1) { if (num_samples >= 2) {
#if DEBUG_FAST_LOOP == ENABLED #if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer)); Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer));

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -399,7 +399,7 @@ void AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
case RATE_200HZ: case RATE_200HZ:
default: default:
rate = MPUREG_SMPLRT_200HZ; rate = MPUREG_SMPLRT_200HZ;
default_filter = BITS_DLPF_CFG_98HZ; default_filter = BITS_DLPF_CFG_42HZ;
break; break;
} }