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sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX

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Daniel Agar
2022-06-04 11:15:03 -04:00
parent 5df266cedc
commit 01f0992f49
2 changed files with 1 additions and 3 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+1 -2
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@@ -146,8 +146,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
} }
// constrain IMU integration time 1-20 milliseconds (50-1000 Hz) // constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(), const int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(), (int32_t)50, (int32_t)1000);
(int32_t)50, math::min(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
if (imu_integration_rate_hz != _param_imu_integ_rate.get()) { if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz); PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
src/modules/sensors/vehicle_imu/VehicleIMU.hpp
-1
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@@ -191,7 +191,6 @@ private:
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate, (ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal (ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal
) )
}; };