From c7db0942ba5d46f17a47d0aa44419eeedfde9ed5 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 14 Dec 2020 10:50:34 -0500 Subject: [PATCH] sensors: vehicle_imu don't round measured accel and gyro sample rates --- src/modules/sensors/vehicle_imu/VehicleIMU.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index a080272579..132f9df69e 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -226,7 +226,7 @@ void VehicleIMU::Run() if (!_intervals_configured && UpdateIntervalAverage(_gyro_interval, gyro.timestamp_sample)) { update_integrator_config = true; publish_status = true; - _status.gyro_rate_hz = roundf(1e6f / _gyro_interval.update_interval); + _status.gyro_rate_hz = 1e6f / _gyro_interval.update_interval; } } @@ -272,7 +272,7 @@ void VehicleIMU::Run() if (!_intervals_configured && UpdateIntervalAverage(_accel_interval, accel.timestamp_sample)) { update_integrator_config = true; publish_status = true; - _status.accel_rate_hz = roundf(1e6f / _accel_interval.update_interval); + _status.accel_rate_hz = 1e6f / _accel_interval.update_interval; } }