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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-05 18:05:11 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-05 18:05:11 +0200 |
| commit | db6ec2d7d2c8f206208f6bd3b6534422fd80eaef (patch) | |
| tree | 0b6a1da0db43a55b27675f5d4824b048bfd3dfec /apps/drivers/mpu6000/mpu6000.cpp | |
| parent | 84e11a0cac53f753f65b0bea4659e1f2d9c0b35e (diff) | |
| download | px4-firmware-db6ec2d7d2c8f206208f6bd3b6534422fd80eaef.tar.gz px4-firmware-db6ec2d7d2c8f206208f6bd3b6534422fd80eaef.tar.bz2 px4-firmware-db6ec2d7d2c8f206208f6bd3b6534422fd80eaef.zip | |
Various minor fixes and improvements across system
Diffstat (limited to 'apps/drivers/mpu6000/mpu6000.cpp')
| -rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index ad4976bc2..7b8a84f7e 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -369,8 +369,10 @@ MPU6000::init() write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz usleep(1000); - // FS & DLPF FS=2000 deg/s, DLPF = 98Hz (low pass filter) - write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); + // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) + // was 90 Hz, but this ruins quality and does not improve the + // system response + write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_20HZ); usleep(1000); // Gyro scale 2000 deg/s () write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); |