From d53c5319791945130f8cfedee9337f29853c5445 Mon Sep 17 00:00:00 2001
From: ChristophTobler <christoph@px4.io>
Date: Mon, 29 Jan 2018 15:10:47 +0100
Subject: [PATCH] mpu9250 wrapper: set autopublish rate
before it didn't integrate IMU values and HIGHRES_IMU was using the filtered values
---
.../drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp | 9 ++++-----
1 file changed, 4 insertions(+), 5 deletions(-)
diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
index 111e725fe2..b06156ecef 100644
--- a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
@@ -69,15 +69,14 @@
#include <mpu9250/MPU9250.hpp>
#include <DevMgr.hpp>
-// We don't want to auto publish, therefore set this to 0.
-#define MPU9250_NEVER_AUTOPUBLISH_US 0
-
#define MPU9250_ACCEL_DEFAULT_RATE 1000
#define MPU9250_GYRO_DEFAULT_RATE 1000
#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
+#define MPU9250_PUB_RATE 250
+
extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }
@@ -198,8 +197,8 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
_accel_orb_class_instance(-1),
_gyro_orb_class_instance(-1),
_mag_orb_class_instance(-1),
- _accel_int(MPU9250_NEVER_AUTOPUBLISH_US, false),
- _gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true),
+ _accel_int(1000000 / MPU9250_PUB_RATE, false),
+ _gyro_int(1000000 / MPU9250_PUB_RATE, true),
_accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
--
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