mpu9250: decrease sampling rate when using i2c

src/lib/drivers/device/integrator.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015-2018 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -86,6 +86,7 @@ public:
 	 */
 	matrix::Vector3f	get(bool reset, uint64_t &integral_dt);
 
+
 	/**
 	 * Get the current integral and reset the integrator if needed. Additionally give the
 	 * integral over the samples differentiated by the integration time (mean filtered values).
@@ -97,6 +98,17 @@ public:
 	 */
 	matrix::Vector3f	get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
 
+
+	/**
+	 * Set auto reset interval during runtime. This won't reset the integrator.
+	 *
+	 * @param auto_reset_interval	    	New reset time interval for the integrator.
+	 */
+	void set_autoreset_interval(uint64_t auto_reset_interval)
+	{
+		_auto_reset_interval = auto_reset_interval;
+	}
+
 private:
 	uint64_t _auto_reset_interval;			/**< the interval after which the content will be published
 							     and the integrator reset, 0 if no auto-reset */