Reduce qmc sampling rate to 100hz

deiteris · Oct 8, 2022 · c2f98ca · c2f98ca
1 parent 3cf5435
commit c2f98ca
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/lib/mpu9250/MPU9250.cpp b/lib/mpu9250/MPU9250.cpp
@@ -3338,8 +3338,8 @@ void MPU9250_Base::initilaizeMagnetometer() {
     I2Cdev::writeByte(devAddr, MPU9250_RA_I2C_SLV0_ADDR, 0x0D);
     // I2C slave 0 register address from where to begin data transfer
     I2Cdev::writeByte(devAddr, MPU9250_RA_I2C_SLV0_REG, 0x09);
-    // Start measurements in continuous mode 200hz at 8G scale
-    I2Cdev::writeByte(devAddr, MPU9250_RA_I2C_SLV0_DO, 0x1D);
+    // Start measurements in continuous mode 100hz at 8G scale
+    I2Cdev::writeByte(devAddr, MPU9250_RA_I2C_SLV0_DO, 0x19);
     // Enable I2C and write 1 byte
     I2Cdev::writeByte(devAddr, MPU9250_RA_I2C_SLV0_CTRL, 0x81);
     delay(50);

diff --git a/src/sensors/mpu9250sensor.h b/src/sensors/mpu9250sensor.h
@@ -60,7 +60,7 @@ class MPU9250Sensor : public Sensor
     unsigned long now = 0, last = 0; // micros() timers
     float deltat = 0;                // loop time in seconds
 
-    float mag_frequency = 200.f;
+    float mag_frequency = 100.f;
     float beta = 0.02f;
     float mincutoff = 0.005f;
     float d_cutoff = 1.0f;