From 7fb43559f81c2a7208f29292bd39aca5a5b2750b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 11 Mar 2021 21:48:18 -0500 Subject: [PATCH] gyro_fft: run by default on STM32H7 --- platforms/nuttx/init/stm32h7/rc.board_arch_defaults | 2 ++ src/modules/logger/logged_topics.cpp | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/platforms/nuttx/init/stm32h7/rc.board_arch_defaults b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults index c4b76aec20..87658a832f 100644 --- a/platforms/nuttx/init/stm32h7/rc.board_arch_defaults +++ b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults @@ -9,6 +9,8 @@ param set-default SENS_IMU_MODE 0 param set-default EKF2_MULTI_MAG 3 param set-default SENS_MAG_MODE 0 +param set-default IMU_GYRO_FFT_EN 1 + param set-default UAVCAN_ENABLE 2 set LOGGER_BUF 64 diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 541794752c..49baf58295 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -84,7 +84,7 @@ void LoggedTopics::add_default_topics() add_topic("safety"); add_topic("sensor_combined"); add_topic("sensor_correction"); - add_topic("sensor_gyro_fft"); + add_topic("sensor_gyro_fft", 100); add_topic("sensor_preflight_mag", 500); add_topic("sensor_selection"); add_topic("sensors_status_imu", 200);