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gyro_fft: reduce run frequency (still consuming all queued data)

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This commit is contained in:
Daniel Agar 2021-03-14 21:36:39 -04:00
parent 3c80db9796
commit 20d8de2dca
2 changed files with 3 additions and 2 deletions
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2
msg/sensor_gyro_fifo.msg
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@ -14,4 +14,4 @@ int16[32] z # angular velocity in the FRD board frame Z-axis in ra
uint8 rotation # Direction the sensor faces (see Rotation enum)
uint8 ORB_QUEUE_LENGTH = 2
uint8 ORB_QUEUE_LENGTH = 4

3
src/modules/gyro_fft/GyroFFT.cpp
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@ -125,10 +125,11 @@ bool GyroFFT::SensorSelectionUpdate(bool force)
if (sensor_gyro_fifo_sub.get().device_id == sensor_selection.gyro_device_id) {
if (_sensor_gyro_fifo_sub.ChangeInstance(i) && _sensor_gyro_fifo_sub.registerCallback()) {
_sensor_gyro_fifo_sub.set_required_updates(sensor_gyro_fifo_s::ORB_QUEUE_LENGTH - 1);
// find corresponding vehicle_imu_status instance
for (uint8_t imu_status = 0; imu_status < MAX_SENSOR_COUNT; imu_status++) {
uORB::Subscription imu_status_sub{ORB_ID(vehicle_imu_status), imu_status};
vehicle_imu_status_s vehicle_imu_status;
if (imu_status_sub.copy(&vehicle_imu_status)) {