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AP_InertialSensor: Flymaple filter constructor arguments non non-zero

master
Mike McCauley 12 years ago committed by Andrew Tridgell
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ecd4ed2277
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1 changed files with 10 additions and 10 deletions
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  1. 20
      libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp

20
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
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@ -36,12 +36,12 @@ uint32_t AP_InertialSensor_Flymaple::_gyro_samples;
volatile bool AP_InertialSensor_Flymaple::_in_accumulate; volatile bool AP_InertialSensor_Flymaple::_in_accumulate;
uint64_t AP_InertialSensor_Flymaple::_last_accel_timestamp; uint64_t AP_InertialSensor_Flymaple::_last_accel_timestamp;
uint64_t AP_InertialSensor_Flymaple::_last_gyro_timestamp; uint64_t AP_InertialSensor_Flymaple::_last_gyro_timestamp;
LowPassFilter2p AP_InertialSensor_Flymaple::_accel_filter_x(0, 0); LowPassFilter2p AP_InertialSensor_Flymaple::_accel_filter_x(800, 10);
LowPassFilter2p AP_InertialSensor_Flymaple::_accel_filter_y(0, 0); LowPassFilter2p AP_InertialSensor_Flymaple::_accel_filter_y(800, 10);
LowPassFilter2p AP_InertialSensor_Flymaple::_accel_filter_z(0, 0); LowPassFilter2p AP_InertialSensor_Flymaple::_accel_filter_z(800, 10);
LowPassFilter2p AP_InertialSensor_Flymaple::_gyro_filter_x(0, 0); LowPassFilter2p AP_InertialSensor_Flymaple::_gyro_filter_x(800, 10);
LowPassFilter2p AP_InertialSensor_Flymaple::_gyro_filter_y(0, 0); LowPassFilter2p AP_InertialSensor_Flymaple::_gyro_filter_y(800, 10);
LowPassFilter2p AP_InertialSensor_Flymaple::_gyro_filter_z(0, 0); LowPassFilter2p AP_InertialSensor_Flymaple::_gyro_filter_z(800, 10);
// This is how often we wish to make raw samples of the sensors in Hz // This is how often we wish to make raw samples of the sensors in Hz
const uint32_t raw_sample_rate_hz = 800; const uint32_t raw_sample_rate_hz = 800;
@ -81,19 +81,19 @@ const uint32_t raw_sample_interval_us = (1000000 / raw_sample_rate_hz);
uint16_t AP_InertialSensor_Flymaple::_init_sensor( Sample_rate sample_rate ) uint16_t AP_InertialSensor_Flymaple::_init_sensor( Sample_rate sample_rate )
{ {
// Sensors are raw sampled at 800Hz. // Sensors are raw sampled at 800Hz.
// Here we figure the divider to get the rate that update will be called // Here we figure the divider to get the rate that update should be called
switch (sample_rate) { switch (sample_rate) {
case RATE_50HZ: case RATE_50HZ:
_sample_divider = 16; _sample_divider = raw_sample_rate_hz / 50;
_default_filter_hz = 10; _default_filter_hz = 10;
break; break;
case RATE_100HZ: case RATE_100HZ:
_sample_divider = 8; _sample_divider = raw_sample_rate_hz / 100;
_default_filter_hz = 20; _default_filter_hz = 20;
break; break;
case RATE_200HZ: case RATE_200HZ:
default: default:
_sample_divider = 4; _sample_divider = raw_sample_rate_hz / 200;
_default_filter_hz = 20; _default_filter_hz = 20;
break; break;
} }

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