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adis16507 group delay should be subtracted from timestamp_sample

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alexklimaj
2023-05-05 12:49:58 -06:00
committed by Daniel Agar
parent 2cef8a03d4
commit b12f5c4e31
1 changed files with 2 additions and 2 deletions
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src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp
+2 -2
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@@ -318,7 +318,7 @@ void ADIS16507::RunImpl()
// TODO:
// Group Delay with No Filtering: Accelerometer 1.57 ms
const uint64_t accel_group_delay_us = 1'570;
_px4_accel.update(timestamp_sample + accel_group_delay_us, accel_x, accel_y, accel_z);
_px4_accel.update(timestamp_sample - accel_group_delay_us, accel_x, accel_y, accel_z);
int16_t gyro_x = buffer.X_GYRO_OUT;
@@ -335,7 +335,7 @@ void ADIS16507::RunImpl()
// Gyroscope (Y-Axis) 1.51 ms
// Gyroscope (Z-Axis) 1.29 ms
const uint64_t gyro_group_delay_us = (1'510 + 1'510 + 1'290) / 3;
_px4_gyro.update(timestamp_sample + gyro_group_delay_us, gyro_x, gyro_y, gyro_z);
_px4_gyro.update(timestamp_sample - gyro_group_delay_us, gyro_x, gyro_y, gyro_z);
success = true;