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sensors: init accel and gyro with default rates

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This commit is contained in:
Thomas Gubler
2015-01-28 19:22:35 +01:00
parent a4961092af
commit f53aa5628e
1 changed files with 10 additions and 46 deletions
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src/modules/sensors/sensors.cpp
+10 -46
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@@ -891,8 +891,8 @@ Sensors::parameters_update()
return ERROR;
}
close(flowfd);
}
}
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
@@ -942,28 +942,11 @@ Sensors::accel_init()
} else {
// XXX do the check more elegantly
/* set the accel internal sampling rate to default rate */
ioctl(fd, ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the accel internal sampling rate up to at leat 1000Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE
#endif
/* set the driver to poll at default rate */
ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
}
@@ -984,31 +967,12 @@ Sensors::gyro_init()
} else {
// XXX do the check more elegantly
/* set the gyro internal sampling rate to default rate */
ioctl(fd, GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the driver to poll at default rate */
ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
/* 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 1000Hz */
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) {
ioctl(fd, SENSORIOCSPOLLRATE, 800);
}
#else
/* set the gyro internal sampling rate up to at least 760Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 760);
/* set the driver to poll at 760Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
close(fd);
}
return OK;