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bmi088: accel & gyro don't publish duplicated reads

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Daniel Agar
2020-05-11 12:59:34 -04:00
parent e0fc404f91
commit 56211864b8
4 changed files with 33 additions and 1 deletions
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src/drivers/imu/bmi088/BMI088_accel.cpp
+12
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@@ -483,6 +483,18 @@ BMI088_accel::RunImpl()
return;
}
// don't publish duplicated reads
if ((report.accel_x == _accel_prev[0]) && (report.accel_y == _accel_prev[1]) && (report.accel_z == _accel_prev[2])) {
perf_count(_duplicates);
perf_end(_sample_perf);
return;
} else {
_accel_prev[0] = report.accel_x;
_accel_prev[1] = report.accel_y;
_accel_prev[2] = report.accel_z;
}
// report the error count as the sum of the number of bad
// transfers and bad register reads. This allows the higher
// level code to decide if it should use this sensor based on