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AP_InertialSensor: fixed HIL for 400Hz INS

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This commit is contained in:
Andrew Tridgell 2014-02-19 10:29:00 +11:00
parent 536160a3fb
commit fe0cb23733
2 changed files with 4 additions and 1 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
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@ -19,6 +19,9 @@ uint16_t AP_InertialSensor_HIL::_init_sensor( Sample_rate sample_rate ) {
case RATE_200HZ: case RATE_200HZ:
_sample_period_ms = 5; _sample_period_ms = 5;
break; break;
case RATE_400HZ:
_sample_period_ms = 2.5;
break;
} }
return AP_PRODUCT_ID_NONE; return AP_PRODUCT_ID_NONE;
} }

2
libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
View File

@ -24,7 +24,7 @@ public:
private: private:
bool _sample_available(); bool _sample_available();
uint16_t _init_sensor( Sample_rate sample_rate ); uint16_t _init_sensor( Sample_rate sample_rate );
uint32_t _sample_period_ms; float _sample_period_ms;
uint32_t _last_update_ms; uint32_t _last_update_ms;
uint32_t _delta_time_usec; uint32_t _delta_time_usec;
uint32_t _last_accel_usec; uint32_t _last_accel_usec;