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IMU_GYRO_RATEMAX set system default to 400 Hz

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- MC default is still 800 Hz
This commit is contained in:
Daniel Agar
2021-03-02 10:08:49 -05:00
parent 16af63e99c
commit c9a2d0ed34
30 changed files with 39 additions and 128 deletions
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src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
-4
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@@ -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);