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Rate limit sensors, as the in-sensor lowpass allows us to operate at 200-250 Hz

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Lorenz Meier
2013-08-04 19:20:55 +02:00
parent 17da1e3f36
commit c2ee4437e0
1 changed files with 34 additions and 1 deletions
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src/modules/sensors/sensors.cpp
+34 -1
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@@ -758,12 +758,27 @@ Sensors::accel_init()
errx(1, "FATAL: no accelerometer found"); errx(1, "FATAL: no accelerometer found");
} else { } else {
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the accel internal sampling rate up to at leat 500Hz */ /* set the accel internal sampling rate up to at leat 500Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 500); ioctl(fd, ACCELIOCSSAMPLERATE, 500);
/* set the driver to poll at 500Hz */ /* set the driver to poll at 500Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 500); ioctl(fd, SENSORIOCSPOLLRATE, 500);
#else
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#endif
warnx("using system accel"); warnx("using system accel");
close(fd); close(fd);
} }
@@ -781,12 +796,27 @@ Sensors::gyro_init()
errx(1, "FATAL: no gyro found"); errx(1, "FATAL: no gyro found");
} else { } else {
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the gyro internal sampling rate up to at leat 500Hz */ /* set the gyro internal sampling rate up to at leat 500Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 500); ioctl(fd, GYROIOCSSAMPLERATE, 500);
/* set the driver to poll at 500Hz */ /* set the driver to poll at 500Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 500); ioctl(fd, SENSORIOCSPOLLRATE, 500);
#else
/* set the gyro internal sampling rate up to at leat 800Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 800);
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#endif
warnx("using system gyro"); warnx("using system gyro");
close(fd); close(fd);
} }
@@ -1387,6 +1417,9 @@ Sensors::task_main()
/* rate limit vehicle status updates to 5Hz */ /* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200); orb_set_interval(_vstatus_sub, 200);
/* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */
orb_set_interval(_gyro_sub, 4);
/* /*
* do advertisements * do advertisements
*/ */
@@ -1422,7 +1455,7 @@ Sensors::task_main()
while (!_task_should_exit) { while (!_task_should_exit) {
/* wait for up to 500ms for data */ /* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */ /* timed out - periodic check for _task_should_exit, etc. */