From 305ec7b08aed4a717a78cced8c254dd147d946cb Mon Sep 17 00:00:00 2001 From: Gustavo Jose de Sousa Date: Fri, 28 Aug 2015 16:21:39 -0300 Subject: [PATCH] AP_InertialSensor: MPU6000: publish sample rate So that vibration and clipping may be calculated. --- libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index 2b8b4cb4ab..5d47d6d091 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -625,6 +625,8 @@ void AP_InertialSensor_MPU6000::start() _gyro_instance = _imu.register_gyro(); _accel_instance = _imu.register_accel(); + _set_accel_sample_rate(_accel_instance, 1000); + hal.scheduler->resume_timer_procs(); // start the timer process to read samples