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sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318)

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wangwwno1
2022-03-13 00:29:23 +08:00
committed by GitHub
parent 58a4c38519
commit aa64789792
1 changed files with 1 additions and 1 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+1 -1
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@@ -147,7 +147,7 @@ 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(), int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
(int32_t)50, math::max(_param_imu_gyro_ratemax.get(), (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);