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Merge pull request #4842 from mikeller/fix_gyro_icm20689_init

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Fixed ICM20689 gyro init.
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Michael Keller 2017-12-25 13:53:27 +13:00 • committed by GitHub
commit ffe43ed8ce
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src/main/drivers/accgyro/accgyro_spi_icm20689.c
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@ -126,7 +126,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
// delay(100);
spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
uint8_t raGyroConfigData = gyro->gyroRateKHz = INV_FSR_2000DPS << 3;
uint8_t raGyroConfigData = INV_FSR_2000DPS << 3;
if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
// use otherwise redundant LPF value to configure FCHOICE_B
// see REGISTER 27 – GYROSCOPE CONFIGURATION in datasheet