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IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata

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Daniel Agar
2021-04-13 17:35:21 -04:00
parent 7053919a9f
commit 047fb13922
3 changed files with 8 additions and 7 deletions
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src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
+6 -5
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@@ -83,14 +83,15 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
/**
* Gyro control data maximum publication rate
* Gyro control data maximum publication rate (inner loop rate)
*
* This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at.
* Set to 0 to disable and publish at the native sensor sample rate.
* The maximum rate the gyro control data (vehicle_angular_velocity) will be
* allowed to publish at. This is the loop rate for the rate controller and outputs.
*
* @min 0
* Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.
*
* @min 100
* @max 2000
* @value 0 0 (driver minimum)
* @value 100 100 Hz
* @value 250 250 Hz
* @value 400 400 Hz