HAL_PX4: adjusted bus speeds on invensense sensors

libraries/AP_HAL_PX4/SPIDevice.cpp

@@ -34,10 +34,10 @@ SPIDesc SPIDeviceManager::device_table[] = {
     SPIDesc("ms5611_ext",   PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
 #endif
 #if defined(PX4_SPIDEV_ICM)
-    SPIDesc("icm20608",   PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ICM, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
+    SPIDesc("icm20608",   PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ICM, SPIDEV_MODE3, 500*KHZ, 20*MHZ),
 #endif
     // ICM20608 on the ACCEL_MAG 
-    SPIDesc("icm20608-am",   PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
+    SPIDesc("icm20608-am",   PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 500*KHZ, 20*MHZ),
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4
     SPIDesc("ms5611_int",   PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
 #endif
@@ -52,7 +52,7 @@ SPIDesc SPIDeviceManager::device_table[] = {
 #ifdef PX4_SPIDEV_EXT_GYRO
     SPIDesc("lsm9ds0_ext_g",PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
 #endif
-    SPIDesc("mpu9250",      PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 11*MHZ),
+    SPIDesc("mpu9250",      PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 20*MHZ),
 #ifdef PX4_SPIDEV_EXT_MPU
     SPIDesc("mpu6000_ext",  PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 500*KHZ, 11*MHZ),    
     SPIDesc("mpu9250_ext",  PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 11*MHZ),