forked from Archive/PX4-Autopilot
icm45686: fix dt (and usage command)
With the wrong dt, the flight behaviour was really poor and noisy, so this fix is absolutely required. Signed-off-by: Julian Oes <julian@oes.ch>
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1b99e7df81
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@ -522,7 +522,7 @@ void ICM45686::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DAT
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accel.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);
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accel.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);
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} else {
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} else {
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accel.dt = FIFO_TIMESTAMP_SCALING;
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accel.dt = FIFO_SAMPLE_DT;
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}
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}
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// 20 bit hires mode
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// 20 bit hires mode
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@ -634,7 +634,7 @@ void ICM45686::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA
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gyro.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);
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gyro.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);
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} else {
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} else {
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gyro.dt = FIFO_TIMESTAMP_SCALING;
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gyro.dt = FIFO_SAMPLE_DT;
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}
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}
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// 20 bit hires mode
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// 20 bit hires mode
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@ -70,7 +70,7 @@ private:
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void exit_and_cleanup() override;
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void exit_and_cleanup() override;
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// Sensor Configuration
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// Sensor Configuration
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static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f}; // 8000 Hz accel & gyro ODR configured
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static constexpr float FIFO_SAMPLE_DT{1e6f / 6400.f}; // 6400 Hz accel & gyro ODR configured
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static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
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static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
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static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
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static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
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@ -38,7 +38,7 @@
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void ICM45686::print_usage()
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void ICM45686::print_usage()
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{
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{
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PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
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PRINT_MODULE_USAGE_NAME("icm45686", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("imu");
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PRINT_MODULE_USAGE_SUBCATEGORY("imu");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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