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AP_InertialSensor: don't try fast sampling on a MPU6500

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it can't do it
This commit is contained in:
Andrew Tridgell 2018-02-06 18:10:29 +11:00
parent d575d676b6
commit f4521772c1
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -822,7 +822,7 @@ void AP_InertialSensor_Invensense::_set_filter_register(void)
_backend_rate_hz = 1000; _backend_rate_hz = 1000;
if (enable_fast_sampling(_accel_instance)) { if (enable_fast_sampling(_accel_instance)) {
_fast_sampling = (_mpu_type != Invensense_MPU6000 && _dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI); _fast_sampling = (_mpu_type >= Invensense_MPU9250 && _dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI);
if (_fast_sampling) { if (_fast_sampling) {
if (get_sample_rate_hz() <= 1000) { if (get_sample_rate_hz() <= 1000) {
_fifo_downsample_rate = 8; _fifo_downsample_rate = 8;