From b12cc57c6461a71c150b24b640d3676e32f8c05a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 11 Jul 2019 09:11:47 +1000 Subject: [PATCH] HAL_ChibiOS: switched on fast sampling on IMU3 by default on hex cubes as some people are flying with EK2_IMU_MASK=7 this reduces the risk of aliasing on IMU3 --- libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat | 2 +- libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat | 2 +- libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat index 2fee0aa27b..bed7aa1f5d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat @@ -39,7 +39,7 @@ IMU Invensense SPI:mpu9250 ROTATION_YAW_270 IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 -define HAL_DEFAULT_INS_FAST_SAMPLE 1 +define HAL_DEFAULT_INS_FAST_SAMPLE 5 # two baros BARO MS56XX SPI:ms5611_ext diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat index 4633234702..647ab20ca6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat @@ -248,7 +248,7 @@ IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 -define HAL_DEFAULT_INS_FAST_SAMPLE 1 +define HAL_DEFAULT_INS_FAST_SAMPLE 5 # two baros BARO MS56XX SPI:ms5611_ext diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat index 2dd1cc1be0..1394605f5b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat @@ -411,7 +411,7 @@ IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 -define HAL_DEFAULT_INS_FAST_SAMPLE 1 +define HAL_DEFAULT_INS_FAST_SAMPLE 5 # two baros BARO MS56XX SPI:ms5611_ext