aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: the accel fast-sampling rate of MPU6500 is 4k,not 1k

Browse Source
This commit is contained in:
Wu 2023-02-13 11:41:52 +08:00 committed by Peter Barker
parent 9179bce1ca
commit 0f1253b393
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
View File

@ -894,7 +894,7 @@ void AP_InertialSensor_Invensense::_set_filter_register(void)
_gyro_backend_rate_hz *= fast_sampling_rate; _gyro_backend_rate_hz *= fast_sampling_rate;
// calculate rate we will be giving accel samples to the backend // calculate rate we will be giving accel samples to the backend
if (_mpu_type >= Invensense_MPU9250) { if (_mpu_type >= Invensense_MPU6500) {
_accel_fifo_downsample_rate = MAX(4 / fast_sampling_rate, 1); _accel_fifo_downsample_rate = MAX(4 / fast_sampling_rate, 1);
_accel_backend_rate_hz *= MIN(fast_sampling_rate, 4); _accel_backend_rate_hz *= MIN(fast_sampling_rate, 4);
} else { } else {