From 1ac6230758f5d400a0e6cf30d821a7fff8cccd20 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 15 Apr 2020 19:59:25 -0400 Subject: [PATCH] boards: always change default IMU_GYRO_RATEMAX on px4_fmu-v2/v3 and mro_x21 - this can lower cpu usage considerably on older boards --- boards/mro/x21/init/rc.board_defaults | 8 +++++--- boards/px4/fmu-v2/init/rc.board_defaults | 9 ++++++--- boards/px4/fmu-v3/init/rc.board_defaults | 9 ++++++--- 3 files changed, 17 insertions(+), 9 deletions(-) diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults index 02b6710a55..d2d3276bcd 100644 --- a/boards/mro/x21/init/rc.board_defaults +++ b/boards/mro/x21/init/rc.board_defaults @@ -3,11 +3,13 @@ # mRo x21 specific board defaults #------------------------------------------------------------------------------ +# to minimize cpu usage on older boards limit inner loop to 400 Hz by default +if param compare IMU_GYRO_RATEMAX 0 +then + param set IMU_GYRO_RATEMAX 400 +fi if [ $AUTOCNF = yes ] then - # to minimize cpu usage on older boards limit inner loop to 400 Hz - param set IMU_GYRO_RATEMAX 400 - fi diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults index 9429bc258e..76ee1950b1 100644 --- a/boards/px4/fmu-v2/init/rc.board_defaults +++ b/boards/px4/fmu-v2/init/rc.board_defaults @@ -22,10 +22,13 @@ then fi unset BL_FILE +# to minimize cpu usage on older boards limit inner loop to 400 Hz by default +if param compare IMU_GYRO_RATEMAX 0 +then + param set IMU_GYRO_RATEMAX 400 +fi + if [ $AUTOCNF = yes ] then - # to minimize cpu usage on older boards limit inner loop to 400 Hz - param set IMU_GYRO_RATEMAX 400 - fi diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults index e3edb16267..98ac408a7e 100644 --- a/boards/px4/fmu-v3/init/rc.board_defaults +++ b/boards/px4/fmu-v3/init/rc.board_defaults @@ -22,10 +22,13 @@ then fi unset BL_FILE +# to minimize cpu usage on older boards limit inner loop to 400 Hz by default +if param compare IMU_GYRO_RATEMAX 0 +then + param set IMU_GYRO_RATEMAX 400 +fi + if [ $AUTOCNF = yes ] then - # to minimize cpu usage on older boards limit inner loop to 400 Hz - param set IMU_GYRO_RATEMAX 400 - fi