IMU_GYRO_RATEMAX set system default to 400 Hz

- MC default is still 800 Hz

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -267,10 +267,6 @@ void BMI055_Accelerometer::ConfigureAccel()
 
 void BMI055_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -265,10 +265,6 @@ void BMI055_Gyroscope::ConfigureGyro()
 
 void BMI055_Gyroscope::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -300,10 +300,6 @@ void BMI088_Accelerometer::ConfigureAccel()
 
 void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -266,10 +266,6 @@ void BMI088_Gyroscope::ConfigureGyro()
 
 void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp

@@ -228,10 +228,6 @@ void BMI088_Accelerometer::ConfigureAccel()
 
 void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp

@@ -211,10 +211,6 @@ void BMI088_Gyroscope::ConfigureGyro()
 
 void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 2000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -335,10 +335,6 @@ void ICM20602::ConfigureGyro()
 
 void ICM20602::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -331,10 +331,6 @@ void ICM20608G::ConfigureGyro()
 
 void ICM20608G::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -332,10 +332,6 @@ void ICM20649::ConfigureGyro()
 
 void ICM20649::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to ~800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -331,10 +331,6 @@ void ICM20689::ConfigureGyro()
 
 void ICM20689::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -368,10 +368,6 @@ void ICM20948::ConfigureGyro()
 
 void ICM20948::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to ~800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -338,10 +338,6 @@ void ICM40609D::ConfigureGyro()
 
 void ICM40609D::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm42605/ICM42605.cpp

@@ -339,10 +339,6 @@ void ICM42605::ConfigureGyro()
 
 void ICM42605::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -275,10 +275,6 @@ void ICM42688P::RunImpl()
 
 void ICM42688P::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -331,10 +331,6 @@ void MPU6000::ConfigureGyro()
 
 void MPU6000::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT * 4; // limit to 2 kHz (500 us interval)
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -331,10 +331,6 @@ void MPU6500::ConfigureGyro()
 
 void MPU6500::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -365,10 +365,6 @@ void MPU9250::ConfigureGyro()
 
 void MPU9250::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp

@@ -332,10 +332,6 @@ void MPU9250_I2C::ConfigureGyro()
 
 void MPU9250_I2C::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -239,10 +239,6 @@ void LSM9DS1::RunImpl()
 
 void LSM9DS1::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = ST_LSM9DS1::LA_ODR;
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c

@@ -90,8 +90,8 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
 *
 * @min 0
 * @max 2000
-* @value 0 0 (no limit)
-* @value 50 50 Hz
+* @value 0 0 (driver minimum)
+* @value 100 100 Hz
 * @value 250 250 Hz
 * @value 400 400 Hz
 * @value 1000 1000 Hz
@@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
 * @reboot_required true
 * @group Sensors
 */
-PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
+PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400);
 
 /**
 * Cutoff frequency for angular acceleration (D-Term filter)