From d53c5319791945130f8cfedee9337f29853c5445 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Mon, 29 Jan 2018 15:10:47 +0100 Subject: [PATCH] mpu9250 wrapper: set autopublish rate before it didn't integrate IMU values and HIGHRES_IMU was using the filtered values --- .../drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp index 111e725fe2..b06156ecef 100644 --- a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp +++ b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp @@ -69,15 +69,14 @@ #include #include -// We don't want to auto publish, therefore set this to 0. -#define MPU9250_NEVER_AUTOPUBLISH_US 0 - #define MPU9250_ACCEL_DEFAULT_RATE 1000 #define MPU9250_GYRO_DEFAULT_RATE 1000 #define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 #define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30 +#define MPU9250_PUB_RATE 250 + extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); } @@ -198,8 +197,8 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) : _accel_orb_class_instance(-1), _gyro_orb_class_instance(-1), _mag_orb_class_instance(-1), - _accel_int(MPU9250_NEVER_AUTOPUBLISH_US, false), - _gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true), + _accel_int(1000000 / MPU9250_PUB_RATE, false), + _gyro_int(1000000 / MPU9250_PUB_RATE, true), _accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),