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AP_InertialSensor: MPU9250: use macros for sample rate

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Instead of hardcoded values.
This commit is contained in:
Gustavo Jose de Sousa 2015-08-03 17:31:32 -03:00 committed by Andrew Tridgell
parent a0b1337646
commit a76eb9c15f
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -159,6 +159,9 @@ extern const AP_HAL::HAL& hal;
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
#define DEFAULT_SMPLRT_DIV MPUREG_SMPLRT_1000HZ
#define DEFAULT_SAMPLE_RATE (1000 / (DEFAULT_SMPLRT_DIV + 1))
/*
* 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)
@ -178,8 +181,8 @@ AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu) :
_last_accel_filter_hz(-1),
_last_gyro_filter_hz(-1),
_shared_data_idx(0),
_accel_filter(1000, 15),
_gyro_filter(1000, 15),
_accel_filter(DEFAULT_SAMPLE_RATE, 15),
_gyro_filter(DEFAULT_SAMPLE_RATE, 15),
_have_sample_available(false),
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
_default_rotation(ROTATION_ROLL_180_YAW_270)
@ -456,7 +459,7 @@ inline void AP_InertialSensor_MPU9250::_register_write(uint8_t reg, uint8_t val)
*/
void AP_InertialSensor_MPU9250::_set_accel_filter(uint8_t filter_hz)
{
_accel_filter.set_cutoff_frequency(1000, filter_hz);
_accel_filter.set_cutoff_frequency(DEFAULT_SAMPLE_RATE, filter_hz);
}
/*
@ -464,7 +467,7 @@ void AP_InertialSensor_MPU9250::_set_accel_filter(uint8_t filter_hz)
*/
void AP_InertialSensor_MPU9250::_set_gyro_filter(uint8_t filter_hz)
{
_gyro_filter.set_cutoff_frequency(1000, filter_hz);
_gyro_filter.set_cutoff_frequency(DEFAULT_SAMPLE_RATE, filter_hz);
}
@ -493,7 +496,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// set sample rate to 1kHz, and use the 2 pole filter to give the
// desired rate
_register_write(MPUREG_SMPLRT_DIV, MPUREG_SMPLRT_1000HZ);
_register_write(MPUREG_SMPLRT_DIV, DEFAULT_SMPLRT_DIV);
_register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000º/s
// RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 16g