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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/modules/mavlink/mavlink_receiver.cpp
+6
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@@ -2196,6 +2196,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
if (_px4_gyro == nullptr) {
PX4_ERR("PX4Gyroscope alloc failed");
} else {
_px4_gyro->set_update_rate(200); // TODO: measure actual
}
}
@@ -2213,6 +2216,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
if (_px4_accel == nullptr) {
PX4_ERR("PX4Accelerometer alloc failed");
} else {
_px4_accel->set_update_rate(200); // TODO: measure actual
}
}