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[airframes] update imu/ahrs freq conf for aspirin in microjet lisa/m example

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This commit is contained in:
Felix Ruess
2013-02-19 19:31:18 +01:00
parent 528b6f40ec
commit 94eed97a91
1 changed files with 14 additions and 2 deletions
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conf/airframes/examples/microjet_lisa_m.xml
+14 -2
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@@ -10,19 +10,31 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="lisa_m_1.0"/> <target name="ap" board="lisa_m_1.0">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
</target>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="STRONG_WIND"/> <define name="STRONG_WIND"/>
<!-- print config info at compile time -->
<define name="PRINT_CONFIG"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="imu" type="aspirin_v1.5"/> <subsystem name="imu" type="aspirin_v1.5">
<define name="ASPIRIN_ACCEL_RATE" value="ADXL345_RATE_100HZ"/>
<define name="ASPIRIN_GYRO_LOWPASS" value="ITG3200_DLPF_42HZ"/>
<!-- gyro: internal freq 1kHz, output freq 100Hz -->
<define name="ASPIRIN_GYRO_SMPLRT_DIV" value="9"/>
</subsystem>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>