From 4dd3f122e8e92af1229b88364b19d5912b0f969a Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Sun, 10 Feb 2013 01:28:33 +0100 Subject: [PATCH] [imu_umarim] configurable gyro lowpass and output rate --- sw/airborne/boards/umarim/imu_umarim.c | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/sw/airborne/boards/umarim/imu_umarim.c b/sw/airborne/boards/umarim/imu_umarim.c index 3649aaf9bdf..ac8172e6ad0 100644 --- a/sw/airborne/boards/umarim/imu_umarim.c +++ b/sw/airborne/boards/umarim/imu_umarim.c @@ -48,6 +48,16 @@ #endif PRINT_CONFIG_VAR(UMARIM_ACCEL_RATE) + +/* default gyro internal lowpass frequency and sample rate divider */ +#if !defined UMARIM_GYRO_LOWPASS && !defined UMARIM_GYRO_SMPLRT_DIV +#define UMARIM_GYRO_LOWPASS ITG3200_DLPF_20HZ +#define UMARIM_GYRO_SMPLRT_DIV 19 +INFO("Gyro output rate is 50Hz") +#endif +PRINT_CONFIG_VAR(UMARIM_GYRO_LOWPASS) +PRINT_CONFIG_VAR(UMARIM_GYRO_SMPLRT_DIV) + struct ImuUmarim imu_umarim; void imu_impl_init(void) @@ -56,8 +66,8 @@ void imu_impl_init(void) // ITG3200 itg3200_init(&imu_umarim.itg, &(IMU_UMARIM_I2C_DEV), ITG3200_ADDR_ALT); // change the default configuration - imu_umarim.itg.config.smplrt_div = 19; - imu_umarim.itg.config.dlpf_cfg = ITG3200_DLPF_20HZ; + imu_umarim.itg.config.smplrt_div = UMARIM_GYRO_SMPLRT_DIV; + imu_umarim.itg.config.dlpf_cfg = UMARIM_GYRO_LOWPASS; ///////////////////////////////////////////////////////////////////// // ADXL345