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Rover: set a default filter frequency of 5Hz

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this should help rovers on rough surfaces
This commit is contained in:
Andrew Tridgell 2013-09-09 19:19:11 +10:00
parent 7b3a674d66
commit fc1228eb48
1 changed files with 5 additions and 0 deletions
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5
APMrover2/system.pde
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@ -394,6 +394,11 @@ static void startup_INS_ground(bool force_accel_level)
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);
// set a lower default filter frequency for rovers, due to very
// high vibration levels on rough surfaces
ins.set_default_filter(5);
if (force_accel_level) { if (force_accel_level) {
// when MANUAL_LEVEL is set to 1 we don't do accelerometer // when MANUAL_LEVEL is set to 1 we don't do accelerometer
// levelling on each boot, and instead rely on the user to do // levelling on each boot, and instead rely on the user to do