From cfd737aa734f9b0cd97f79148d6b959978b2cad0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 5 Aug 2013 21:08:19 +0200 Subject: [PATCH] Made sensors startup routine more flexible --- src/modules/sensors/sensors.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 5dc23f5c13..f7b41b1207 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -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