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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 10:51:02 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 10:51:02 +0200 |
| commit | dec7c2b8d32f78687cdcc71a4347bed59b0cefa4 (patch) | |
| tree | 4ccf3420a1a44328d7a1a22c8dc72317db2184f5 | |
| parent | ab400089bc2a42f1f0ace569d8f0ee58f4338e1d (diff) | |
| parent | 8ced6bb49bf32128d2673e565cb112ca6d2f21eb (diff) | |
| download | px4-firmware-dec7c2b8d32f78687cdcc71a4347bed59b0cefa4.tar.gz px4-firmware-dec7c2b8d32f78687cdcc71a4347bed59b0cefa4.tar.bz2 px4-firmware-dec7c2b8d32f78687cdcc71a4347bed59b0cefa4.zip | |
Merge remote-tracking branch 'upstream' into master_obcfailsafe
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 6f5dae7ad..b22bb2e07 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -910,12 +910,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) // adjust filters float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq(); float sample_rate = 1.0e6f/ticks; + _set_dlpf_filter(cutoff_freq_hz); _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz); float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq(); + _set_dlpf_filter(cutoff_freq_hz_gyro); _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); @@ -968,11 +970,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return _accel_filter_x.get_cutoff_freq(); case ACCELIOCSLOWPASS: - if (arg == 0) { - // allow disabling of on-chip filter using - // zero as desired filter frequency - _set_dlpf_filter(0); - } + // set hardware filtering + _set_dlpf_filter(arg); + // set software filtering _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); @@ -1053,14 +1053,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGLOWPASS: return _gyro_filter_x.get_cutoff_freq(); case GYROIOCSLOWPASS: + // set hardware filtering + _set_dlpf_filter(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); - if (arg == 0) { - // allow disabling of on-chip filter using 0 - // as desired frequency - _set_dlpf_filter(0); - } return OK; case GYROIOCSSCALE: |