forked from Archive/PX4-Autopilot
sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX
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@ -146,8 +146,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
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}
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}
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// constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
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// constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
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int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
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const int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(), (int32_t)50, (int32_t)1000);
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(int32_t)50, math::min(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
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if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
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if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
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PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
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PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
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@ -186,7 +186,6 @@ private:
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DEFINE_PARAMETERS(
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
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(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
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(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
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(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal
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(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal
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)
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)
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};
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};
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