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Code Issues Releases Activity

ahrs: Only read mag data when it has been updated

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The AHRS mainloop was reading the mag data on every
loop regardless of whether new data was actually
available.  Now that the MAG_DRDY signal is monitored,
we can read only at the rate (10Hz) new data is actually
produced by the sensor.

This also enables future improvements that will remove the
filtering work that is still being done on the mag data on
every iteration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-09-15 14:21:05 +00:00 committed by stac
parent 55d90970ed
commit cdb8aa37a0
1 changed files with 4 additions and 3 deletions
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7
flight/AHRS/ahrs.c
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@ -194,7 +194,6 @@ static uint8_t adc_oversampling = 15;
* @}
*/
/**
* @brief AHRS Main function
*/
@ -294,8 +293,10 @@ int main()
}
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
// Get magnetic readings
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
// Get magnetic readings
if (PIOS_HMC5843_NewDataAvailable()) {
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
}
#endif
// Delay for valid data