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mpu6k: set hardware filter during ACCELIOCLOWPASS

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also set from GYROIOCLOWPASS

Conflicts:
	mavlink/include/mavlink/v1.0
This commit is contained in:
Randy Mackay
2014-09-10 14:42:32 +09:00
committed by Lorenz Meier
parent 8a18cfa386
commit 3e1eec5906
1 changed files with 5 additions and 10 deletions
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src/drivers/mpu6000/mpu6000.cpp
+5 -10
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@@ -968,11 +968,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSLOWPASS:
if (arg == 0) {
// allow disabling of on-chip filter using
// zero as desired filter frequency
_set_dlpf_filter(0);
}
// set hardware filtering
_set_dlpf_filter(arg);
// set software filtering
_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
@@ -1056,11 +1054,8 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
if (arg == 0) {
// allow disabling of on-chip filter using 0
// as desired frequency
_set_dlpf_filter(0);
}
// set hardware filtering
_set_dlpf_filter(arg);
return OK;
case GYROIOCSSCALE: