dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata

This commit is contained in:
Daniel Agar 2021-04-13 17:35:21 -04:00
parent 7053919a9f
commit 047fb13922
3 changed files with 8 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
View File

@ -48,7 +48,7 @@ public:
uint32_t get_device_id() const { return _device_id; }
int32_t get_max_rate_hz() const { return _imu_gyro_rate_max; }
int32_t get_max_rate_hz() const { return math::constrain(_imu_gyro_rate_max, 100, 4000); }
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);

2
src/lib/drivers/gyroscope/PX4Gyroscope.hpp
View File

@ -48,7 +48,7 @@ public:
uint32_t get_device_id() const { return _device_id; }
int32_t get_max_rate_hz() const { return _imu_gyro_rate_max; }
int32_t get_max_rate_hz() const { return math::constrain(_imu_gyro_rate_max, 100, 4000); }
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);

11
src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
View File

@ -83,14 +83,15 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
/**
* Gyro control data maximum publication rate
* Gyro control data maximum publication rate (inner loop rate)
*
* This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at.
* Set to 0 to disable and publish at the native sensor sample rate.
* The maximum rate the gyro control data (vehicle_angular_velocity) will be
* allowed to publish at. This is the loop rate for the rate controller and outputs.
*
* @min 0
* Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.
*
* @min 100
* @max 2000
* @value 0 0 (driver minimum)
* @value 100 100 Hz
* @value 250 250 Hz
* @value 400 400 Hz