From c2f98ca0c6fb843b419661ea1902920c69b8b0e8 Mon Sep 17 00:00:00 2001 From: Yury Date: Thu, 25 Aug 2022 00:45:17 +0200 Subject: [PATCH] Reduce qmc sampling rate to 100hz --- lib/mpu9250/MPU9250.cpp | 4 ++-- src/sensors/mpu9250sensor.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/lib/mpu9250/MPU9250.cpp b/lib/mpu9250/MPU9250.cpp index f33d505fc..659f131ae 100644 --- 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 index 68eb73e59..67a6a41c7 100644 --- 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;