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AP_InertialSensor: fixed flymaple build

This commit is contained in:
Andrew Tridgell 2015-11-17 08:52:49 +11:00
parent 32ed0d58f3
commit f36b2e415a
2 changed files with 4 additions and 19 deletions
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19
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
View File

@ -64,11 +64,7 @@ const uint32_t raw_sample_interval_us = (1000000 / raw_sample_rate_hz);
#define FLYMAPLE_GYRO_SCALE_R_S (1.0f / 14.375f) * (3.1415926f / 180.0f)
AP_InertialSensor_Flymaple::AP_InertialSensor_Flymaple(AP_InertialSensor &imu) :
AP_InertialSensor_Backend(imu),
_accel_filter(raw_sample_rate_hz, 10),
_gyro_filter(raw_sample_rate_hz, 10),
_last_gyro_timestamp(0),
_last_accel_timestamp(0)
AP_InertialSensor_Backend(imu)
{}
/*
@ -137,9 +133,6 @@ bool AP_InertialSensor_Flymaple::_init_sensor(void)
hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_INT_CFG, 0x00);
hal.scheduler->delay(1);
// Set up the filter desired
_set_filter_frequency(_accel_filter_cutoff());
// give back i2c semaphore
i2c_sem->give();
@ -151,16 +144,6 @@ bool AP_InertialSensor_Flymaple::_init_sensor(void)
return true;
}
/*
set the filter frequency
*/
void AP_InertialSensor_Flymaple::_set_filter_frequency(uint8_t filter_hz)
{
_accel_filter.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
_gyro_filter.set_cutoff_frequency(raw_sample_rate_hz, filter_hz);
}
// This takes about 20us to run
bool AP_InertialSensor_Flymaple::update(void)
{

4
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
View File

@ -29,7 +29,9 @@ private:
uint8_t _gyro_instance;
uint8_t _accel_instance;
};
uint32_t _last_gyro_timestamp;
uint32_t _last_accel_timestamp;
};
#endif
#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__