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drivers/imu/bosch: run accels at max rate rather than IMU_GYRO_RATEMAX

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This commit is contained in:
Daniel Agar
2022-03-12 10:09:29 -05:00
parent 58a4c38519
commit 293e459b9e
4 changed files with 2 additions and 9 deletions
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src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
+1 -1
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@@ -48,7 +48,7 @@ BMI055_Accelerometer::BMI055_Accelerometer(const I2CSPIDriverConfig &config) :
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed"); _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
} }
ConfigureSampleRate(_px4_accel.get_max_rate_hz()); ConfigureSampleRate(RATE);
} }
BMI055_Accelerometer::~BMI055_Accelerometer() BMI055_Accelerometer::~BMI055_Accelerometer()
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
+1 -1
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@@ -48,7 +48,7 @@ BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed"); _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
} }
ConfigureSampleRate(_px4_accel.get_max_rate_hz()); ConfigureSampleRate(RATE);
} }
BMI088_Accelerometer::~BMI088_Accelerometer() BMI088_Accelerometer::~BMI088_Accelerometer()
src/lib/drivers/accelerometer/PX4Accelerometer.cpp
-3
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@@ -35,7 +35,6 @@
#include "PX4Accelerometer.hpp" #include "PX4Accelerometer.hpp"
#include <lib/drivers/device/Device.hpp> #include <lib/drivers/device/Device.hpp>
#include <lib/parameters/param.h>
using namespace time_literals; using namespace time_literals;
@@ -72,8 +71,6 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, enum Rotation rotation) :
{ {
// advertise immediately to keep instance numbering in sync // advertise immediately to keep instance numbering in sync
_sensor_pub.advertise(); _sensor_pub.advertise();
param_get(param_find("IMU_GYRO_RATEMAX"), &_imu_gyro_rate_max);
} }
PX4Accelerometer::~PX4Accelerometer() PX4Accelerometer::~PX4Accelerometer()
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
-4
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@@ -48,8 +48,6 @@ public:
uint32_t get_device_id() const { return _device_id; } uint32_t get_device_id() const { return _device_id; }
int32_t get_max_rate_hz() const { return math::constrain(_imu_gyro_rate_max, static_cast<int32_t>(100), static_cast<int32_t>(4000)); }
void set_device_id(uint32_t device_id) { _device_id = device_id; } void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype); void set_device_type(uint8_t devtype);
void set_error_count(uint32_t error_count) { _error_count = error_count; } void set_error_count(uint32_t error_count) { _error_count = error_count; }
@@ -73,8 +71,6 @@ private:
uint32_t _device_id{0}; uint32_t _device_id{0};
const enum Rotation _rotation; const enum Rotation _rotation;
int32_t _imu_gyro_rate_max{0}; // match gyro max rate
float _range{16 * CONSTANTS_ONE_G}; float _range{16 * CONSTANTS_ONE_G};
float _scale{1.f}; float _scale{1.f};
float _temperature{NAN}; float _temperature{NAN};