diff options
| author | Randy Mackay <rmackay9@yahoo.com> | 2014-09-10 14:42:32 +0900 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-30 10:03:15 +0200 |
| commit | 3e1eec5906ea8df955bf6d0ac7ec182979f47c90 (patch) | |
| tree | 32236d1480fe7c8484a5a1c38d8f2cbb18d87654 /src/drivers | |
| parent | 8a18cfa3869555389e7e9ff8f104d83f9c54cb43 (diff) | |
| download | px4-firmware-3e1eec5906ea8df955bf6d0ac7ec182979f47c90.tar.gz px4-firmware-3e1eec5906ea8df955bf6d0ac7ec182979f47c90.tar.bz2 px4-firmware-3e1eec5906ea8df955bf6d0ac7ec182979f47c90.zip | |
mpu6k: set hardware filter during ACCELIOCLOWPASS
also set from GYROIOCLOWPASS
Conflicts:
mavlink/include/mavlink/v1.0
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 15 |
1 files changed, 5 insertions, 10 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 6f5dae7ad..fb38c7e67 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -968,11 +968,9 @@ 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); @@ -1056,11 +1054,8 @@ 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); - if (arg == 0) { - // allow disabling of on-chip filter using 0 - // as desired frequency - _set_dlpf_filter(0); - } + // set hardware filtering + _set_dlpf_filter(arg); return OK; case GYROIOCSSCALE: |