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AP_InertialSensor: disable fast sampling on 2nd IMU on Pixracer

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it also hosts a mag, and gets lots of FIFO resets if we try to run it
at 8kHz
This commit is contained in:
Andrew Tridgell 2018-01-11 15:59:46 +11:00
parent 9f5e01d20a
commit febe414766
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -739,7 +739,8 @@ AP_InertialSensor::detect_backends(void)
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
_fast_sampling_mask.set_default(3);
// only do fast samplng on ICM-20608. The MPU9250 doesn't handle high rate well when it has a mag enabled
_fast_sampling_mask.set_default(1);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
break;