diff options
| author | Andrew Tridgell <tridge@samba.org> | 2014-05-14 16:01:10 +1000 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-08 11:40:54 +0200 |
| commit | ef79d032760e83850a9dbcbe5ae34c8b72f5fb4f (patch) | |
| tree | b5beca958c81bb9e2be068ad7a78f96e329466b2 | |
| parent | 37b4cdfce21ff6a7374599a6706ad387bd359515 (diff) | |
| download | px4-firmware-ef79d032760e83850a9dbcbe5ae34c8b72f5fb4f.tar.gz px4-firmware-ef79d032760e83850a9dbcbe5ae34c8b72f5fb4f.tar.bz2 px4-firmware-ef79d032760e83850a9dbcbe5ae34c8b72f5fb4f.zip | |
mpu6000: allow disabling of on-sensor low pass filter
used for vibration testing
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 20 |
1 files changed, 13 insertions, 7 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 0edec3d0e..fb4acc360 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -666,7 +666,9 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz) /* choose next highest filter frequency available */ - if (frequency_hz <= 5) { + if (frequency_hz == 0) { + filter = BITS_DLPF_CFG_2100HZ_NOLPF; + } else if (frequency_hz <= 5) { filter = BITS_DLPF_CFG_5HZ; } else if (frequency_hz <= 10) { filter = BITS_DLPF_CFG_10HZ; @@ -922,10 +924,11 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return _accel_filter_x.get_cutoff_freq(); case ACCELIOCSLOWPASS: - - // XXX decide on relationship of both filters - // i.e. disable the on-chip filter - //_set_dlpf_filter((uint16_t)arg); + if (arg == 0) { + // allow disabling of on-chip filter using + // zero as desired filter frequency + _set_dlpf_filter(0); + } _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); @@ -1009,8 +1012,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - // XXX check relation to the internal lowpass - //_set_dlpf_filter((uint16_t)arg); + if (arg == 0) { + // allow disabling of on-chip filter using 0 + // as desired frequency + _set_dlpf_filter(0); + } return OK; case GYROIOCSSCALE: |