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sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318)

v1.13.0-BW
wangwwno1 3 years ago committed by GitHub
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  1. 2
      src/modules/sensors/vehicle_imu/VehicleIMU.cpp

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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
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@ -147,7 +147,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
// constrain IMU integration time 1-20 milliseconds (50-1000 Hz) // constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(), int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
(int32_t)50, math::max(_param_imu_gyro_ratemax.get(), (int32_t) 1000)); (int32_t)50, math::min(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
if (imu_integration_rate_hz != _param_imu_integ_rate.get()) { if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz); PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);

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