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Made sensors startup routine more flexible

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This commit is contained in:
Lorenz Meier
2013-08-05 21:08:19 +02:00
parent a2f923b9a3
commit cfd737aa73
1 changed files with 6 additions and 4 deletions
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src/modules/sensors/sensors.cpp
+6 -4
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@@ -801,11 +801,13 @@ Sensors::gyro_init()
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the gyro internal sampling rate up to at leat 500Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 500);
/* set the gyro internal sampling rate up to at least 1000Hz */
if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
ioctl(fd, GYROIOCSSAMPLERATE, 800);
/* set the driver to poll at 500Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 500);
/* set the driver to poll at 1000Hz */
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else