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Merge branch 'mpu6k_queue' of github.com:PX4/Firmware into fmuv2_bringup

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This commit is contained in:
Lorenz Meier
2013-08-06 09:15:24 +02:00
parent ec2e02d50e 338e506a28
commit 461b2eb366
6 changed files with 98 additions and 36 deletions
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src/modules/sensors/sensors.cpp
+10 -8
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@@ -763,11 +763,11 @@ Sensors::accel_init()
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the accel internal sampling rate up to at leat 500Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 500);
/* set the accel internal sampling rate up to at leat 1000Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
/* set the driver to poll at 500Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 500);
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#else
@@ -801,11 +801,13 @@ Sensors::gyro_init()
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the gyro internal sampling rate up to at leat 500Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 500);
/* set the gyro internal sampling rate up to at least 1000Hz */
if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
ioctl(fd, GYROIOCSSAMPLERATE, 800);
/* set the driver to poll at 500Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 500);
/* set the driver to poll at 1000Hz */
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else