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pmw3901 increase publish rate and max_ground_distance (#11066)

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* increase pmw3901 publish rate and max_ground_distance
* set work queue to high priority
This commit is contained in:
AnnaDaiZH
2019-01-08 20:25:39 +01:00
committed by Daniel Agar
parent 5e53f73ad8
commit 3b3752b753
1 changed files with 7 additions and 4 deletions
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src/drivers/pmw3901/pmw3901.cpp
+7 -4
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@@ -140,6 +140,8 @@ private:
int _class_instance;
int _orb_class_instance;
const uint64_t _collect_time = 15000; // usecs, optical flow data publish rate
orb_advert_t _optical_flow_pub;
orb_advert_t _subsystem_pub;
@@ -575,7 +577,8 @@ PMW3901::collect()
_flow_sum_x += delta_x_raw;
_flow_sum_y += delta_y_raw;
if (_flow_dt_sum_usec < 45000) {
// returns if the collect time has not been reached
if (_flow_dt_sum_usec < _collect_time) {
return ret;
}
@@ -617,7 +620,7 @@ PMW3901::collect()
// set (conservative) specs according to datasheet
report.max_flow_rate = 5.0f; // Datasheet: 7.4 rad/s
report.min_ground_distance = 0.1f; // Datasheet: 80mm
report.max_ground_distance = 5.0f; // Datasheet: infinity
report.max_ground_distance = 30.0f; // Datasheet: infinity
_flow_dt_sum_usec = 0;
_flow_sum_x = 0;
@@ -679,7 +682,7 @@ PMW3901::start()
_reports->flush();
/* schedule a cycle to start things */
work_queue(LPWORK, &_work, (worker_t)&PMW3901::cycle_trampoline, this, USEC2TICK(PMW3901_US));
work_queue(HPWORK, &_work, (worker_t)&PMW3901::cycle_trampoline, this, USEC2TICK(PMW3901_US));
/* notify about state change */
struct subsystem_info_s info = {};
@@ -718,7 +721,7 @@ PMW3901::cycle()
collect();
/* schedule a fresh cycle call when the measurement is done */
work_queue(LPWORK,
work_queue(HPWORK,
&_work,
(worker_t)&PMW3901::cycle_trampoline,
this,