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Merged fmuv2_bringup

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Lorenz Meier
2013-08-21 15:19:19 +02:00
parent 5a8dc9c504 db1229dca3
commit 309ea81460
20 changed files with 804 additions and 535 deletions
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src/modules/sensors/sensors.cpp
+24 -9
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@@ -912,11 +912,11 @@ Sensors::gyro_init()
#else
/* set the gyro internal sampling rate up to at leat 800Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 800);
/* set the gyro internal sampling rate up to at least 760Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 760);
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
/* set the driver to poll at 760Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
@@ -929,6 +929,7 @@ void
Sensors::mag_init()
{
int fd;
int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -937,13 +938,27 @@ Sensors::mag_init()
errx(1, "FATAL: no magnetometer found");
}
/* set the mag internal poll rate to at least 150Hz */
ioctl(fd, MAGIOCSSAMPLERATE, 150);
/* try different mag sampling rates */
/* set the driver to poll at 150Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
int ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
} else {
ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
ioctl(fd, SENSORIOCSPOLLRATE, 100);
} else {
errx(1, "FATAL: mag sampling rate could not be set");
}
}
ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
if (ret < 0)
errx(1, "FATAL: unknown if magnetometer is external or onboard");
else if (ret == 1)