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mpu9250: decrease sampling rate when using i2c

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DanielePettenuzzo
2018-05-22 12:21:45 +02:00
committed by Beat Küng
parent 9c8e97a1ba
commit 8b54346d52
3 changed files with 24 additions and 9 deletions
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src/lib/drivers/device/integrator.h
+13 -1
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@@ -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 */