ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU.

13 years ago · 42406c827a
1 changed files with 11 additions and 0 deletions
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@ -98,6 +98,17 @@
				@@ -98,6 +98,17 @@
 # endif
 #endif

+#if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
+ # define NUM_IMU_SAMPLES_FOR_200HZ 5
+ # define NUM_IMU_SAMPLES_FOR_100HZ 10
+ # define NUM_IMU_SAMPLES_FOR_50HZ  20
+#endif
+
+#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
+ # define NUM_IMU_SAMPLES_FOR_200HZ 1
+ # define NUM_IMU_SAMPLES_FOR_100HZ 2
+ # define NUM_IMU_SAMPLES_FOR_50HZ  4
+#endif

 //////////////////////////////////////////////////////////////////////////////
 // ADC Enable - used to eliminate for systems which don't have ADC.