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mpu9250 wrapper: support updating gyro & accel cutoff via parameter

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- useful for tuning snapdragon flight

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-20 11:53:31 -04:00
committed by Daniel Agar
parent b066ef3427
commit 4be4b9810e
1 changed files with 25 additions and 0 deletions
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src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+25
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@@ -242,6 +242,31 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
_mag_calibration.y_offset = 0.0f;
_mag_calibration.z_offset = 0.0f;
}
// set software low pass filter for controllers
param_t param_handle = param_find("IMU_ACCEL_CUTOFF");
float param_val = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
if (param_handle != PARAM_INVALID && (param_get(param_handle, &param_val) == PX4_OK)) {
_accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
_accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
_accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
} else {
PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
}
param_handle = param_find("IMU_GYRO_CUTOFF");
param_val = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
if (param_handle != PARAM_INVALID && (param_get(param_handle, &param_val) == PX4_OK)) {
_gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
_gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
_gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
} else {
PX4_ERR("IMU_GYRO_CUTOFF param invalid");
}
}
DfMpu9250Wrapper::~DfMpu9250Wrapper()