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sensors: vehicle_imu don't round measured accel and gyro sample rates

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Daniel Agar
2020-12-14 10:50:34 -05:00
parent bf5ee99952
commit c7db0942ba
1 changed files with 2 additions and 2 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+2 -2
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@@ -226,7 +226,7 @@ void VehicleIMU::Run()
if (!_intervals_configured && UpdateIntervalAverage(_gyro_interval, gyro.timestamp_sample)) { if (!_intervals_configured && UpdateIntervalAverage(_gyro_interval, gyro.timestamp_sample)) {
update_integrator_config = true; update_integrator_config = true;
publish_status = true; publish_status = true;
_status.gyro_rate_hz = roundf(1e6f / _gyro_interval.update_interval); _status.gyro_rate_hz = 1e6f / _gyro_interval.update_interval;
} }
} }
@@ -272,7 +272,7 @@ void VehicleIMU::Run()
if (!_intervals_configured && UpdateIntervalAverage(_accel_interval, accel.timestamp_sample)) { if (!_intervals_configured && UpdateIntervalAverage(_accel_interval, accel.timestamp_sample)) {
update_integrator_config = true; update_integrator_config = true;
publish_status = true; publish_status = true;
_status.accel_rate_hz = roundf(1e6f / _accel_interval.update_interval); _status.accel_rate_hz = 1e6f / _accel_interval.update_interval;
} }
} }