From df0d1518911c08fce85082a068602b5918647a39 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 26 Dec 2011 18:02:06 +1100 Subject: [PATCH] MPU6000: change to 98Hz low pass filter based on recommendation from Pat --- libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index eeda998e12..213bacc78e 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -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);