[paparazzi-commits] [paparazzi/paparazzi] 4dd870: [imu] aspirin_2_spi: default AHRS_PROPAGATE_FREQUE...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 4dd870b8ebd6f711802adc414da57b26ee5110c5
      
https://github.com/paparazzi/paparazzi/commit/4dd870b8ebd6f711802adc414da57b26ee5110c5
  Author: Felix Ruess <address@hidden>
  Date:   2013-07-30 (Tue, 30 Jul 2013)

  Changed paths:
    M conf/airframes/esden/cocto_lm2a2.xml
    M conf/airframes/esden/hexy_ll11a2pwm.xml
    M conf/airframes/esden/hexy_lm2a2pwm.xml
    M conf/airframes/esden/lisa2_hex.xml
    M conf/airframes/esden/quady_ll11a2pwm.xml
    M conf/airframes/esden/quady_lm1a1pwm.xml
    M conf/airframes/esden/quady_lm2a2pwm.xml
    M conf/airframes/esden/quady_lm2a2pwmppm.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
    M conf/airframes/examples/quadrotor_mlkf.xml
    M sw/airborne/subsystems/imu/imu_aspirin_2_spi.c

  Log Message:
  -----------
  [imu] aspirin_2_spi: default AHRS_PROPAGATE_FREQUENCY is 512

With DLPF_256HZ (value zero) the internal sampling rate is 8kHz and with a 
sample rate divider of 1
the output freq was actually 4kHz and not 500Hz. Since the data is polled from 
the mpu at PERIODIC_FREQUENCY
the AHRS_PROPAGATE_FREQUENCY (defaulting to PERIODIC_FREQUENCY) is also 512Hz 
for a default rotorcraft config.

Set the output freq to 2kHz now, AHRS_PROPAGATE_FREQUENCY stays at 
PERIODIC_FREQUENCY=512Hz so doesn't have to be
defined in the airframe file.

Also added defaults for PERIODIC_FREQUENCY of 60 and 120Hz:
- DLPF_42HZ
- output rate of 100Hz
In these cases add <define name="AHRS_PROPAGATE_FREQUENCY" value="100"/>