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| author | Andrew Tridgell <tridge@samba.org> | 2013-12-04 22:54:02 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-10 11:02:49 +0100 |
| commit | 476070510eca3c1eb8c485b5f2d04061dfb24f88 (patch) | |
| tree | 155291f981b7b5150ae37110fe1810df71455f69 /src/drivers/l3gd20 | |
| parent | b0bb5a34508c72efbbfc2ec622a2cd8a95e9df1d (diff) | |
| download | px4-firmware-476070510eca3c1eb8c485b5f2d04061dfb24f88.tar.gz px4-firmware-476070510eca3c1eb8c485b5f2d04061dfb24f88.tar.bz2 px4-firmware-476070510eca3c1eb8c485b5f2d04061dfb24f88.zip | |
lsm303d/l3gd20: change filters to 50Hz analog on-chip filters
after discussion with Leonard these analog on-chip filters should be
at 50Hz
Diffstat (limited to 'src/drivers/l3gd20')
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 103b26ac5..17b53bfa9 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -93,10 +93,15 @@ static const int ERROR = -1; /* keep lowpass low to avoid noise issues */ #define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) #define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4)) +#define RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4)) #define RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) #define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) +#define RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4)) +#define RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) #define RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) #define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4)) +#define RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4)) +#define RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4)) #define RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) #define ADDR_CTRL_REG2 0x21 @@ -662,15 +667,15 @@ L3GD20::set_samplerate(unsigned frequency) } else if (frequency <= 200) { _current_rate = 190; - bits |= RATE_190HZ_LP_70HZ; + bits |= RATE_190HZ_LP_50HZ; } else if (frequency <= 400) { _current_rate = 380; - bits |= RATE_380HZ_LP_100HZ; + bits |= RATE_380HZ_LP_50HZ; } else if (frequency <= 800) { _current_rate = 760; - bits |= RATE_760HZ_LP_100HZ; + bits |= RATE_760HZ_LP_50HZ; } else { return -EINVAL; } |