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AP_InertialSensor: MPU9250 cleaning

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Víctor Mayoral Vilches 2014-08-17 17:19:10 -07:00 committed by Andrew Tridgell
parent ac11d282b5
commit 5e5319e23b
1 changed files with 0 additions and 32 deletions
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32
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -158,24 +158,6 @@ extern const AP_HAL::HAL& hal;
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
// // TODO Remove
// // Product ID Description for MPU6000
// // high 4 bits low 4 bits
// // Product Name Product Revision
// #define MPU6000ES_REV_C4 0x14 // 0001 0100
// #define MPU6000ES_REV_C5 0x15 // 0001 0101
// #define MPU6000ES_REV_D6 0x16 // 0001 0110
// #define MPU6000ES_REV_D7 0x17 // 0001 0111
// #define MPU6000ES_REV_D8 0x18 // 0001 1000
// #define MPU6000_REV_C4 0x54 // 0101 0100
// #define MPU6000_REV_C5 0x55 // 0101 0101
// #define MPU6000_REV_D6 0x56 // 0101 0110
// #define MPU6000_REV_D7 0x57 // 0101 0111
// #define MPU6000_REV_D8 0x58 // 0101 1000
// #define MPU6000_REV_D9 0x59 // 0101 1001
/*
* PS-MPU-9250A-00.pdf, page 8, lists LSB sensitivity of
* gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3)
@ -567,20 +549,6 @@ bool AP_InertialSensor_MPU9250::_hardware_init(Sample_rate sample_rate)
_register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000º/s
hal.scheduler->delay(1);
// // read the product ID rev c has 1/2 the sensitivity of rev d
// _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
// //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
// if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
// (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
// // Accel scale 8g (4096 LSB/g)
// // Rev C has different scaling than rev D
// _register_write(MPUREG_ACCEL_CONFIG,1<<3);
// } else {
// // Accel scale 8g (4096 LSB/g)
// _register_write(MPUREG_ACCEL_CONFIG,2<<3);
// }
// RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 8g
_register_write(MPUREG_ACCEL_CONFIG,2<<3);