diff options
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index cb708db4a..d77f03bb7 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -77,8 +77,8 @@ #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 -/* Max measurement rate is 160Hz */ -#define HMC5883_CONVERSION_INTERVAL (1000000 / 160) /* microseconds */ +/* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */ +#define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */ #define ADDR_CONF_A 0x00 #define ADDR_CONF_B 0x01 @@ -607,7 +607,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) if (_measure_ticks == 0) return SENSOR_POLLRATE_MANUAL; - return (1000 / _measure_ticks); + return 1000000/TICK2USEC(_measure_ticks); case SENSORIOCSQUEUEDEPTH: { /* add one to account for the sentinel in the ring */ @@ -645,7 +645,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) case MAGIOCGSAMPLERATE: /* same as pollrate because device is in single measurement mode*/ - return ioctl(filp, SENSORIOCGPOLLRATE, 0); + return 1000000/TICK2USEC(_measure_ticks); case MAGIOCSRANGE: return set_range(arg); |