Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

INS: add support for 400hz for PX4

Browse Source
This commit is contained in:
Randy Mackay 2013-12-17 12:24:44 +09:00 committed by Andrew Tridgell
parent 3a78263921
commit b7565affcd
2 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -42,7 +42,8 @@ public:
enum Sample_rate { enum Sample_rate {
RATE_50HZ, RATE_50HZ,
RATE_100HZ, RATE_100HZ,
RATE_200HZ RATE_200HZ,
RATE_400HZ
}; };
/// Perform startup initialisation. /// Perform startup initialisation.

6
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
View File

@ -44,10 +44,14 @@ uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate )
_sample_time_usec = 10000; _sample_time_usec = 10000;
break; break;
case RATE_200HZ: case RATE_200HZ:
default:
_default_filter_hz = 30; _default_filter_hz = 30;
_sample_time_usec = 5000; _sample_time_usec = 5000;
break; break;
case RATE_400HZ:
default:
_default_filter_hz = 30;
_sample_time_usec = 2500;
break;
} }
_set_filter_frequency(_mpu6000_filter); _set_filter_frequency(_mpu6000_filter);