diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 25 |
1 files changed, 20 insertions, 5 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 198da9f0a..7ea1ae0f3 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -936,6 +936,7 @@ void Sensors::mag_init() { int fd; + int ret; fd = open(MAG_DEVICE_PATH, 0); @@ -944,13 +945,27 @@ Sensors::mag_init() errx(1, "FATAL: no magnetometer found"); } - /* set the mag internal poll rate to at least 150Hz */ - ioctl(fd, MAGIOCSSAMPLERATE, 150); + /* try different mag sampling rates */ - /* set the driver to poll at 150Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 150); +#if 0 + ret = ioctl(fd, MAGIOCSSAMPLERATE, 150); + if (ret == OK) { + /* set the pollrate accordingly */ + ioctl(fd, SENSORIOCSPOLLRATE, 150); + } else { + ret = ioctl(fd, MAGIOCSSAMPLERATE, 100); + /* if the slower sampling rate still fails, something is wrong */ + if (ret == OK) { + /* set the driver to poll also at the slower rate */ + ioctl(fd, SENSORIOCSPOLLRATE, 100); + } else { + errx(1, "FATAL: mag sampling rate could not be set"); + } + } +#endif + - int ret = ioctl(fd, MAGIOCGEXTERNAL, 0); + ret = ioctl(fd, MAGIOCGEXTERNAL, 0); if (ret < 0) errx(1, "FATAL: unknown if magnetometer is external or onboard"); else if (ret == 1) |