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AP_Baro: fixup Keller LD comments

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This commit is contained in:
Jacob Walser 2017-08-29 12:30:32 -04:00
parent b1b471f2bd
commit e492c733d8
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_Baro/AP_Baro_KellerLD.cpp
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@ -137,7 +137,7 @@ bool AP_Baro_KellerLD::_init()
printf("Keller LD found on bus %u address 0x%02x\n", _dev->bus_num(), _dev->get_bus_address());
// Send a command to read temperature first
// Send a command to take a measurement
_dev->transfer(&CMD_REQUEST_MEASUREMENT, 1, nullptr, 0);
memset(&_accum, 0, sizeof(_accum));
@ -197,10 +197,11 @@ bool AP_Baro_KellerLD::_read()
return false;
}
// Periodic callback, regular update at 100Hz
// Periodic callback, regular update at 50Hz
// Read out most recent measurement, and request another
// Max conversion time according to datasheet is ~8ms, so
// max update rate is ~125Hz
// max update rate is ~125Hz, yet we struggle to get consistent
// performance/data at 100Hz
void AP_Baro_KellerLD::_timer(void)
{
_read();