forked from Archive/PX4-Autopilot
mpu6000 driver: set icm registers only on icm devices
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@ -744,7 +744,11 @@ int MPU6000::reset()
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// was 90 Hz, but this ruins quality and does not improve the
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// system response
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_set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
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_set_icm_acc_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
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if (is_icm_device()) {
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_set_icm_acc_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
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}
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usleep(1000);
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// Gyro scale 2000 deg/s ()
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write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
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@ -1329,7 +1333,11 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
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float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
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float sample_rate = 1.0e6f / ticks;
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_set_dlpf_filter(cutoff_freq_hz);
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_set_icm_acc_dlpf_filter(cutoff_freq_hz);
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if (is_icm_device()) {
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_set_icm_acc_dlpf_filter(cutoff_freq_hz);
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}
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_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
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_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
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_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
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