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MPU6000: change to 98Hz low pass filter 

based on recommendation from Pat
This commit is contained in:
Andrew Tridgell 2011-12-26 18:02:06 +11:00
parent 3ef707a2c3
commit df0d151891
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -289,8 +289,8 @@ void AP_InertialSensor_MPU6000::hardware_init()
// SAMPLE RATE
register_write(MPUREG_SMPLRT_DIV,0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
delay(1);
// FS & DLPF FS=2000º/s, DLPF = 42Hz (low pass filter)
register_write(MPUREG_CONFIG, BITS_DLPF_CFG_42HZ);
// FS & DLPF FS=2000º/s, DLPF = 98Hz (low pass filter)
register_write(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
delay(1);
register_write(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000º/s
delay(1);