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add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate

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This commit is contained in:
Daniel Agar
2019-09-02 20:06:50 -04:00
committed by GitHub
parent 49c74ab021
commit 4d9f2bf776
3 changed files with 38 additions and 11 deletions
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src/modules/sensors/sensor_params.c
+18 -6
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@@ -213,9 +213,8 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* Driver level cutoff frequency for gyro
*
* The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features
* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
* controllers, not the estimators. 0 disables the filter.
* The cutoff frequency for the 2nd order butterworth filter on the gyro driver.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
*
* @min 0
* @max 1000
@@ -225,12 +224,25 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
/**
* Gyro control data maximum publication rate
*
* This is the maximum rate the gyro control data (sensor_gyro_control) will be allowed to publish at.
* Set to 0 to disable and publish at the native sensor sample rate.
*
* @min 0
* @max 2000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
/**
* Driver level cutoff frequency for accel
*
* The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features
* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
* controllers, not the estimators. 0 disables the filter.
* The cutoff frequency for the 2nd order butterworth filter on the accel driver.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
*
* @min 0
* @max 1000