From 03332aaa20eb85b8089f858c1616a16173d5b497 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 29 May 2019 08:11:18 +0200 Subject: [PATCH] PX4Accelerometer,PX4Gyroscope: set_sample_rate requires a filter update --- src/lib/drivers/accelerometer/PX4Accelerometer.hpp | 2 +- src/lib/drivers/gyroscope/PX4Gyroscope.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp index 4ec57ca684..ff70f88ec2 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp @@ -57,7 +57,7 @@ public: void set_scale(float scale) { _sensor_accel_pub.get().scaling = scale; } void set_temperature(float temperature) { _sensor_accel_pub.get().temperature = temperature; } - void set_sample_rate(unsigned rate) { _sample_rate = rate; } + void set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); } void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); } diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp index 6eb7950cdc..dc71fde5d8 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp @@ -57,7 +57,7 @@ public: void set_scale(float scale) { _sensor_gyro_pub.get().scaling = scale; } void set_temperature(float temperature) { _sensor_gyro_pub.get().temperature = temperature; } - void set_sample_rate(unsigned rate) { _sample_rate = rate; } + void set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); } void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }