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AP_InertialSensor: temporarily disable fast sampling

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a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
This commit is contained in:
Andrew Tridgell 2016-11-14 18:17:25 +11:00
parent ae2dc5570e
commit c0303ffe8a
2 changed files with 8 additions and 3 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -663,10 +663,14 @@ void AP_InertialSensor_MPU6000::_set_filter_register(void)
config = 0;
#endif
if (_is_icm_device && _dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
#if 0
// temporarily disable fast sampling
_fast_sampling = (_is_icm_device && _dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI);
#endif
if (_fast_sampling) {
// this gives us 8kHz sampling on gyros and 4kHz on accels
config |= BITS_DLPF_CFG_256HZ_NOLPF2;
_fast_sampling = true;
} else {
// limit to 1kHz if not on SPI
config |= BITS_DLPF_CFG_188HZ;

3
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -213,7 +213,8 @@ AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu,
, _temp_filter(1000, 1)
, _rotation(rotation)
, _dev(std::move(dev))
, _fast_sampling(fast_sampling)
// fast sampling disabled for now
, _fast_sampling(false)
{
}