From 520a81a9516b9a381e04f6bb177eff4678f04dff Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Mon, 10 Sep 2018 16:46:54 -0700 Subject: [PATCH] nxphlite-v3:Disable internal mag due to random spikes. This will disable the fxos8701cq internal mag on the NXPHlite. There are random noise spikes on the HIGHRES_IMU.[x|y|x]mag. Even with all other SPI devices shut down, the noise is still present. --- src/drivers/boards/nxphlite-v3/board_config.h | 1 + src/drivers/imu/fxos8701cq/fxos8701cq.cpp | 2 ++ 2 files changed, 3 insertions(+) diff --git a/src/drivers/boards/nxphlite-v3/board_config.h b/src/drivers/boards/nxphlite-v3/board_config.h index 440c5ff98c..1551ff9c71 100644 --- a/src/drivers/boards/nxphlite-v3/board_config.h +++ b/src/drivers/boards/nxphlite-v3/board_config.h @@ -543,6 +543,7 @@ __BEGIN_DECLS # endif #endif /* HAVE_AUTOMOUNTER */ +#define BOARD_HAS_NOISY_FXOS8700_MAG 1 // Disable internal MAG /************************************************************************************ * Public data diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp index cb6dfc8ca2..1df5864067 100644 --- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp +++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp @@ -1200,7 +1200,9 @@ FXOS8701CQ::start() 1000, _call_accel_interval - FXOS8701C_TIMER_REDUCTION, (hrt_callout)&FXOS8701CQ::measure_trampoline, this); +#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG) hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&FXOS8701CQ::mag_measure_trampoline, this); +#endif } void