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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-30 10:05:39 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-30 10:05:39 +0200 |
| commit | 8ced6bb49bf32128d2673e565cb112ca6d2f21eb (patch) | |
| tree | c41e82d7a9be0812213d52b9a9415dabea74c97a /src/drivers/mpu6000 | |
| parent | 3e1eec5906ea8df955bf6d0ac7ec182979f47c90 (diff) | |
| download | px4-firmware-8ced6bb49bf32128d2673e565cb112ca6d2f21eb.tar.gz px4-firmware-8ced6bb49bf32128d2673e565cb112ca6d2f21eb.tar.bz2 px4-firmware-8ced6bb49bf32128d2673e565cb112ca6d2f21eb.zip | |
Set filter frequency for hardware and software in parallel, always do so in the same order
Diffstat (limited to 'src/drivers/mpu6000')
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index fb38c7e67..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); @@ -1051,11 +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); - // set hardware filtering - _set_dlpf_filter(arg); return OK; case GYROIOCSSCALE: |