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Add gyro rates and configurable FSR for ICM20649 (#4077)

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brianlbalogh 2017-09-07 09:05:11 -04:00 • committed by Martin Budden
parent ba4587e949
commit b295a159b0
9 changed files with 67 additions and 21 deletions
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2
src/main/sensors/gyro.c
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@ -127,6 +127,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = GYRO_LPF_256HZ,
.gyro_soft_lpf_type = FILTER_PT1,
.gyro_soft_lpf_hz = 90,
.gyro_high_fsr = false,
.gyro_use_32khz = false,
.gyro_to_use = 0,
.gyro_soft_notch_hz_1 = 400,
@ -335,6 +336,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
mpuDetect(&gyroSensor->gyroDev);
mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
#endif
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
const gyroSensor_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
if (gyroHardware == GYRO_NONE) {