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mpu9250 wrapper: set autopublish rate

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before it didn't integrate IMU values and HIGHRES_IMU was using the filtered values
This commit is contained in:
ChristophTobler
2018-01-29 16:55:45 +01:00
committed by Lorenz Meier
parent 47e5382e7e
commit d53c531979
1 changed files with 4 additions and 5 deletions
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src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+4 -5
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@@ -69,15 +69,14 @@
#include <mpu9250/MPU9250.hpp>
#include <DevMgr.hpp>
// We don't want to auto publish, therefore set this to 0.
#define MPU9250_NEVER_AUTOPUBLISH_US 0
#define MPU9250_ACCEL_DEFAULT_RATE 1000
#define MPU9250_GYRO_DEFAULT_RATE 1000
#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_PUB_RATE 250
extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }
@@ -198,8 +197,8 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
_accel_orb_class_instance(-1),
_gyro_orb_class_instance(-1),
_mag_orb_class_instance(-1),
_accel_int(MPU9250_NEVER_AUTOPUBLISH_US, false),
_gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true),
_accel_int(1000000 / MPU9250_PUB_RATE, false),
_gyro_int(1000000 / MPU9250_PUB_RATE, true),
_accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),