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IMU: parameterize IMU integration time (IMU_INTEG_RATE)

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- default integration rate now 200 Hz (5000 us interval)
 - set update rate for all drivers and simulators using PX4Accelerometer/PX4Gyroscope
This commit is contained in:
Daniel Agar
2020-05-05 20:34:09 -04:00
committed by GitHub
parent 682aa700bb
commit ca998c1822
24 changed files with 133 additions and 12 deletions
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src/drivers/imu/bmi088/BMI088_accel.cpp
+1
View File
@@ -63,6 +63,7 @@ BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path
_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
_got_duplicate(false)
{
_px4_accel.set_update_rate(BMI088_ACCEL_DEFAULT_RATE);
}
BMI088_accel::~BMI088_accel()
src/drivers/imu/bmi088/BMI088_gyro.cpp
+1
View File
@@ -65,6 +65,7 @@ BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers"))
{
_px4_gyro.set_update_rate(BMI088_GYRO_DEFAULT_RATE);
}
BMI088_gyro::~BMI088_gyro()