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Code Issues Releases Activity

REVONANO - Change sensors rate to 333Hz

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This commit is contained in:
Alessio Morale 2014-12-18 00:13:03 +01:00
parent 1d7c1b2fc9
commit 3651ac61a3
2 changed files with 4 additions and 4 deletions
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2
flight/targets/boards/revonano/firmware/inc/pios_config.h
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@ -95,7 +95,7 @@
#define PIOS_MPU9250_ACCEL #define PIOS_MPU9250_ACCEL
#define PIOS_MPU9250_MAG #define PIOS_MPU9250_MAG
#define PIOS_SENSOR_RATE 500.0f #define PIOS_SENSOR_RATE 333.0f
// #define PIOS_INCLUDE_WS2811 // #define PIOS_INCLUDE_WS2811

6
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -141,7 +141,7 @@ static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = {
static const struct pios_mpu9250_cfg pios_mpu9250_cfg = { static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
.exti_cfg = &pios_exti_mpu9250_cfg, .exti_cfg = &pios_exti_mpu9250_cfg,
.Fifo_store = PIOS_MPU9250_FIFO_TEMP_OUT | PIOS_MPU9250_FIFO_GYRO_X_OUT | PIOS_MPU9250_FIFO_GYRO_Y_OUT | PIOS_MPU9250_FIFO_GYRO_Z_OUT, .Fifo_store = 0,
// Clock at 8 khz // Clock at 8 khz
.Smpl_rate_div_no_dlp = 0, .Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz // with dlp on output rate is 1000Hz
@ -149,14 +149,14 @@ static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
.interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN, .interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN,
.interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY, .interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN, .User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN,
.Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_X_CLK, .Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_Z_CLK,
.accel_range = PIOS_MPU9250_ACCEL_8G, .accel_range = PIOS_MPU9250_ACCEL_8G,
.gyro_range = PIOS_MPU9250_SCALE_2000_DEG, .gyro_range = PIOS_MPU9250_SCALE_2000_DEG,
.filter = PIOS_MPU9250_LOWPASS_256_HZ, .filter = PIOS_MPU9250_LOWPASS_256_HZ,
.orientation = PIOS_MPU9250_TOP_180DEG, .orientation = PIOS_MPU9250_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_4, .fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64, .std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 16, .max_downsample = 26,
}; };
#endif /* PIOS_INCLUDE_MPU9250 */ #endif /* PIOS_INCLUDE_MPU9250 */