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Code Issues Releases Activity

A bit more lenient settings for CC sensor timings

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This commit is contained in:
James Cotton 2012-01-26 12:51:21 -06:00
parent ad3d470f40
commit 84dd1dbc40
2 changed files with 4 additions and 4 deletions
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2
flight/CopterControl/System/pios_board.c
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@ -102,7 +102,7 @@ static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
};
static const struct pios_bma180_cfg pios_bma180_cfg = {
.exti_cfg = &pios_exti_bma180_cfg,
.bandwidth = BMA_BW_600HZ,
.bandwidth = BMA_BW_300HZ,
.range = BMA_RANGE_8G,
};
#endif /* PIOS_INCLUDE_BMA180 */

6
flight/Modules/Attitude/attitude.c
View File

@ -376,7 +376,7 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
struct pios_l3gd20_data gyro;
gyro_scaling = PIOS_L3GD20_GetScale();
if(xQueueReceive(gyro_queue, (void *) &gyro, 2) == errQUEUE_EMPTY) {
if(xQueueReceive(gyro_queue, (void *) &gyro, 3) == errQUEUE_EMPTY) {
// Unfortunately if the L3GD20 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstart
// it.
@ -395,7 +395,7 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
gyros_accum[1] = gyrosData->y;
gyros_accum[2] = gyrosData->z;
if(xQueueReceive(gyro_queue, (void * const) &gyro, 2) == errQUEUE_EMPTY) {
if(xQueueReceive(gyro_queue, (void * const) &gyro, 3) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return -1;
}
@ -409,7 +409,7 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
gyros_accum[1] += gyrosData->y;
gyros_accum[2] += gyrosData->z;
if(xQueueReceive(gyro_queue, (void * const) &gyro, 2) == errQUEUE_EMPTY) {
if(xQueueReceive(gyro_queue, (void * const) &gyro, 3) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return -1;
}