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| author | Andrew Tridgell <tridge@samba.org> | 2013-12-04 16:12:25 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-10 12:04:05 +0100 |
| commit | 0a83772c0d8b4b600245590d571f679a6894e75f (patch) | |
| tree | a21abbd1f6054603dd26758114c4fbc2a704de69 /src/drivers | |
| parent | f0e50fc87a7b33113cdd00b9b9f720214159eb83 (diff) | |
| download | px4-firmware-0a83772c0d8b4b600245590d571f679a6894e75f.tar.gz px4-firmware-0a83772c0d8b4b600245590d571f679a6894e75f.tar.bz2 px4-firmware-0a83772c0d8b4b600245590d571f679a6894e75f.zip | |
l3gd20: use highest possible on-chip filter bandwidth
this allows the software filter to do its job properly
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 31e38fbd9..103b26ac5 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -92,9 +92,12 @@ static const int ERROR = -1; #define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ /* 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) | (1<<5) | (1<<4)) +#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<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_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_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) #define ADDR_CTRL_REG2 0x21 #define ADDR_CTRL_REG3 0x22 @@ -659,16 +662,15 @@ L3GD20::set_samplerate(unsigned frequency) } else if (frequency <= 200) { _current_rate = 190; - bits |= RATE_190HZ_LP_25HZ; + bits |= RATE_190HZ_LP_70HZ; } else if (frequency <= 400) { _current_rate = 380; - bits |= RATE_380HZ_LP_20HZ; + bits |= RATE_380HZ_LP_100HZ; } else if (frequency <= 800) { _current_rate = 760; - bits |= RATE_760HZ_LP_30HZ; - + bits |= RATE_760HZ_LP_100HZ; } else { return -EINVAL; } @@ -732,7 +734,7 @@ L3GD20::reset() * callback fast enough to not miss data. */ write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); - set_samplerate(L3GD20_DEFAULT_RATE); + set_samplerate(0); // 760Hz set_range(L3GD20_DEFAULT_RANGE_DPS); set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ); |