From 2770e1d2c767f393d82ac241e80c38bbbe24c440 Mon Sep 17 00:00:00 2001
From: DanielePettenuzzo <daniele@px4.io>
Date: Wed, 16 May 2018 16:36:23 +0200
Subject: [PATCH] mpu9250: remove define from integrator interval when using
 i2c

---
 src/drivers/imu/mpu9250/mpu9250.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 2ed36591fb..c66b3db433 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -267,8 +267,8 @@ MPU9250::init()
 	*/
 	if (is_i2c()) {
 		_sample_rate = 200;
-		_accel_int.set_autoreset_interval(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE / 4);
-		_gyro_int.set_autoreset_interval(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE / 4);
+		_accel_int.set_autoreset_interval(1000000 / 1000);
+		_gyro_int.set_autoreset_interval(1000000 / 1000);
 	}
 
 	int ret = probe();