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Set maximum publishing rate to match MPU6000

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The integrators were set to publish at 800Hz which was overwhelming
the CPU with the EKF running. This brings them in line with what we
get from the MPU6k device.
This commit is contained in:
Nate Weibley
2016-10-05 08:58:57 +02:00
committed by Julian Oes
parent fde165b4f1
commit 71e87cf287
2 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/bmi160/bmi160.cpp
+2 -2
View File
@@ -55,8 +55,8 @@ BMI160::BMI160(int bus, const char *path_accel, const char *path_gyro, spi_dev_e
_gyro_filter_x(BMI160_GYRO_DEFAULT_RATE, BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_y(BMI160_GYRO_DEFAULT_RATE, BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_z(BMI160_GYRO_DEFAULT_RATE, BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_accel_int(1000000 / BMI160_ACCEL_MAX_RATE),
_gyro_int(1000000 / BMI160_GYRO_MAX_RATE, true),
_accel_int(1000000 / BMI160_ACCEL_MAX_PUBLISH_RATE),
_gyro_int(1000000 / BMI160_GYRO_MAX_PUBLISH_RATE, true),
_rotation(rotation),
_checked_next(0),
_last_temperature(0),
src/drivers/bmi160/bmi160.hpp
+2
View File
@@ -227,8 +227,10 @@
#define BMI160_GYRO_DEFAULT_RANGE_DPS 2000
#define BMI160_ACCEL_DEFAULT_RATE 800
#define BMI160_ACCEL_MAX_RATE 1600
#define BMI160_ACCEL_MAX_PUBLISH_RATE 280
#define BMI160_GYRO_DEFAULT_RATE 800
#define BMI160_GYRO_MAX_RATE 3200
#define BMI160_GYRO_MAX_PUBLISH_RATE BMI160_ACCEL_MAX_PUBLISH_RATE
#define BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 324
#define BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 50