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AP_InertialSensor: use driver supplied sample rate

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this will work with a wider range of sensors
This commit is contained in:
Andrew Tridgell 2015-06-17 14:44:19 +10:00
parent e91bfdfc1c
commit d3b85eb792
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -109,7 +109,6 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
ioctl(fd, GYROIOCSSAMPLERATE, 1000);
// set queue depth
ioctl(fd, SENSORIOCSQUEUEDEPTH, _queue_depth(1000));
_gyro_sample_time[i] = 1.0f/1000;
break;
case DRV_GYR_DEVTYPE_L3GD20:
// hardware LPF as high as possible
@ -118,11 +117,12 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
ioctl(fd, GYROIOCSSAMPLERATE, 800);
// 10ms queue depth
ioctl(fd, SENSORIOCSQUEUEDEPTH, _queue_depth(800));
_gyro_sample_time[i] = 1.0f/760;
break;
default:
break;
}
// calculate gyro sample time
_gyro_sample_time[i] = 1.0f / ioctl(fd, GYROIOCGSAMPLERATE, 0);
}
for (uint8_t i=0; i<_num_accel_instances; i++) {
@ -142,7 +142,6 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
// 10ms queue depth
ioctl(fd, SENSORIOCSQUEUEDEPTH, _queue_depth(1000));
_accel_sample_time[i] = 1.0f/1000;
break;
case DRV_ACC_DEVTYPE_LSM303D:
// hardware LPF to ~1/10th sample rate for antialiasing
@ -152,11 +151,12 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
ioctl(fd,SENSORIOCSPOLLRATE, 1600);
// 10ms queue depth
ioctl(fd, SENSORIOCSQUEUEDEPTH, _queue_depth(1600));
_accel_sample_time[i] = 1.0f/1600;
break;
default:
break;
}
// calculate accel sample time
_accel_sample_time[i] = 1.0f / ioctl(fd, ACCELIOCGSAMPLERATE, 0);
}
_set_accel_filter_frequency(_accel_filter_cutoff());