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df_mpu9250_wrapper: publish at 250 Hz

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Julian Oes 2016-03-23 11:36:30 +01:00 committed by Lorenz Meier
parent 393bcad4b6
commit b04cfd3eee
1 changed files with 6 additions and 2 deletions
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8
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
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@ -64,6 +64,10 @@
#include <DevMgr.hpp>
// publish frequency of 250 Hz
#define MPU9250_PUBLISH_INTERVAL_US 4000
extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }
using namespace DriverFramework;
@ -141,8 +145,8 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(/*enum Rotation rotation*/) :
_gyro_calibration{},
_accel_orb_class_instance(-1),
_gyro_orb_class_instance(-1),
_accel_int(MPU9250_MEASURE_INTERVAL_US, true),
_gyro_int(MPU9250_MEASURE_INTERVAL_US, true),
_accel_int(MPU9250_PUBLISH_INTERVAL_US, true),
_gyro_int(MPU9250_PUBLISH_INTERVAL_US, true),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "df_accel_read")),
_gyro_sample_perf(perf_alloc(PC_ELAPSED, "df_gyro_read"))
/*_rotation(rotation)*/