fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 12:11:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

crazyflie: add probe() to vl53lxx driver and set imu sampling rate to 200 Hz for this board

Browse Source
This commit is contained in:
DanielePettenuzzo
2018-05-22 12:21:45 +02:00
committed by Beat Küng
parent ffbb53454e
commit 533f42adb8
6 changed files with 57 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/mpu9250/mpu9250.cpp
+7 -8
View File
@@ -139,12 +139,11 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
// #ifdef CRAZYFLIE
// _sample_rate(250),
// #else
// _sample_rate(1000),
// #endif
_sample_rate(250),
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
_sample_rate(200),
#else
_sample_rate(1000),
#endif
_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu9250_read")),
@@ -161,8 +160,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_gyro_filter_x(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_y(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_z(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_accel_int(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE / 4),
_gyro_int(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE / 4, true),
_accel_int(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE),
_gyro_int(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE, true),
_rotation(rotation),
_checked_next(0),
_last_temperature(0),
src/drivers/imu/mpu9250/mpu9250.h
+5 -6
View File
@@ -181,12 +181,11 @@
#define MPU_WHOAMI_6500 0x70
#define MPU9250_ACCEL_DEFAULT_RATE 1000
// #ifdef CRAZYFLIE
// #define MPU9250_ACCEL_MAX_OUTPUT_RATE 4*280
// #else
// #define MPU9250_ACCEL_MAX_OUTPUT_RATE 280
// #endif
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280 // remove this when using the previous #ifdef
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 1000
#else
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280
#endif
#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_GYRO_DEFAULT_RATE 1000
/* rates need to be the same between accel and gyro */