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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-06 09:15:24 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-06 09:15:24 +0200 |
| commit | 461b2eb3667838d455efc8946e81498f6a0d58f1 (patch) | |
| tree | 61eefabd6488f24443706a3e47d7f776be68f0e0 /src/modules/sensors | |
| parent | ec2e02d50ea2f518051b50e4e83e12736526fbc2 (diff) | |
| parent | 338e506a28e4233bc8a16493530f3b82a0dd67e9 (diff) | |
| download | px4-firmware-461b2eb3667838d455efc8946e81498f6a0d58f1.tar.gz px4-firmware-461b2eb3667838d455efc8946e81498f6a0d58f1.tar.bz2 px4-firmware-461b2eb3667838d455efc8946e81498f6a0d58f1.zip | |
Merge branch 'mpu6k_queue' of github.com:PX4/Firmware into fmuv2_bringup
Diffstat (limited to 'src/modules/sensors')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 18 |
1 files changed, 10 insertions, 8 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 0f1782fca..f7b41b120 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -763,11 +763,11 @@ Sensors::accel_init() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - /* set the accel internal sampling rate up to at leat 500Hz */ - ioctl(fd, ACCELIOCSSAMPLERATE, 500); + /* set the accel internal sampling rate up to at leat 1000Hz */ + ioctl(fd, ACCELIOCSSAMPLERATE, 1000); - /* set the driver to poll at 500Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 500); + /* set the driver to poll at 1000Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, 1000); #else @@ -801,11 +801,13 @@ Sensors::gyro_init() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - /* set the gyro internal sampling rate up to at leat 500Hz */ - ioctl(fd, GYROIOCSSAMPLERATE, 500); + /* set the gyro internal sampling rate up to at least 1000Hz */ + if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) + ioctl(fd, GYROIOCSSAMPLERATE, 800); - /* set the driver to poll at 500Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 500); + /* set the driver to poll at 1000Hz */ + if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) + ioctl(fd, SENSORIOCSPOLLRATE, 800); #else |