From aaf1667b091289e606a2e88df3a33f8292e1ffd0 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 3 Nov 2018 15:11:10 -0400
Subject: [PATCH] delete unused GYRO_SAMPLERATE_DEFAULT
---
src/drivers/drv_gyro.h | 2 --
src/drivers/imu/fxas21002c/fxas21002c.cpp | 2 +-
src/drivers/imu/l3gd20/l3gd20.cpp | 2 +-
src/drivers/imu/mpu6000/mpu6000.cpp | 3 +--
src/drivers/imu/mpu9250/mpu9250.cpp | 3 +--
src/modules/simulator/gyrosim/gyrosim.cpp | 3 +--
6 files changed, 5 insertions(+), 10 deletions(-)
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index b82ece5449..0502c65534 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -71,8 +71,6 @@ struct gyro_calibration_s {
#define _GYROIOCBASE (0x2300)
#define _GYROIOC(_n) (_PX4_IOC(_GYROIOCBASE, _n))
-#define GYRO_SAMPLERATE_DEFAULT 1000003 /**< default sample rate */
-
/** set the gyro scaling constants to (arg) */
#define GYROIOCSSCALE _GYROIOC(4)
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index caa02e57b8..b7cafd4e6b 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -874,7 +874,7 @@ FXAS21002C::set_samplerate(unsigned frequency)
unsigned last_rate = _current_rate;
- if (frequency == 0 || frequency == GYRO_SAMPLERATE_DEFAULT) {
+ if (frequency == 0) {
frequency = FXAS21002C_DEFAULT_RATE;
}
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index 6d2e3626c7..c6cef2ead2 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -759,7 +759,7 @@ L3GD20::set_samplerate(unsigned frequency)
{
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
- if (frequency == 0 || frequency == GYRO_SAMPLERATE_DEFAULT) {
+ if (frequency == 0) {
frequency = _is_l3g4200d ? 800 : 760;
}
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index a350f6d7ed..5f63a20a1d 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -904,8 +904,7 @@ MPU6000::probe()
void
MPU6000::_set_sample_rate(unsigned desired_sample_rate_hz)
{
- if (desired_sample_rate_hz == 0 ||
- desired_sample_rate_hz == GYRO_SAMPLERATE_DEFAULT) {
+ if (desired_sample_rate_hz == 0) {
desired_sample_rate_hz = MPU6000_GYRO_DEFAULT_RATE;
}
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index f678b7a450..6173c1f7b2 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -552,8 +552,7 @@ MPU9250::probe()
void
MPU9250::_set_sample_rate(unsigned desired_sample_rate_hz)
{
- if (desired_sample_rate_hz == 0 ||
- desired_sample_rate_hz == GYRO_SAMPLERATE_DEFAULT) {
+ if (desired_sample_rate_hz == 0) {
desired_sample_rate_hz = MPU9250_GYRO_DEFAULT_RATE;
}
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index a33a112dbd..9577c84166 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -510,8 +510,7 @@ GYROSIM::_set_sample_rate(unsigned desired_sample_rate_hz)
{
PX4_DEBUG("_set_sample_rate %u Hz", desired_sample_rate_hz);
- if (desired_sample_rate_hz == 0 ||
- desired_sample_rate_hz == GYRO_SAMPLERATE_DEFAULT) {
+ if (desired_sample_rate_hz == 0) {
desired_sample_rate_hz = GYROSIM_GYRO_DEFAULT_RATE;
}
--
GitLab