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[UPDATE] - Crazyflie parameter config

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This commit is contained in:
TheLegendaryJedi
2020-12-21 21:55:16 +00:00
committed by Lorenz Meier
parent 40f971c082
commit e450c5a9d9
8 changed files with 12 additions and 8 deletions
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2
boards/bitcraze/crazyflie21/init/rc.board_sensors
View File

@@ -6,7 +6,7 @@
board_adc start
# Internal I2C bus
bmp388 -I -a 0x77 start
bmp388 -I -a 0x77 -f 400 start
bmi088_i2c -A -R 0 -I -a 0x18 start
bmi088_i2c -G -R 0 -I -a 0x69 start

2
boards/bitcraze/crazyflie21/src/board_config.h
View File

@@ -95,7 +95,7 @@
#define PX4_I2C_BUS_MTD 1
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ}
/* Devices on the onboard bus.

1
cmake/configs/uavcan_board_ident Submodule

Submodule cmake/configs/uavcan_board_ident added at 2e5f9d6768

1
msg/tools/gencpp Submodule

Submodule msg/tools/gencpp added at 7e446a9976

1
msg/tools/genmsg Submodule

Submodule msg/tools/genmsg added at 5736b1f7ad

6
src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp
View File

@@ -192,8 +192,8 @@ void BMI088_Accelerometer::RunImpl()
break;
case STATE::FIFO_READ: {
//FIFOReadTest(now);
NormalRead(now);
FIFOReadTest(now);
//NormalRead(now);
}
break;
}
@@ -875,7 +875,7 @@ bool BMI088_Accelerometer::FIFOReadTest(const hrt_abstime &timestamp_sample){
// empty
return false;
}
int n_frames_to_read = 5;
int n_frames_to_read = 6;
// don't read more than 8 frames at a time
if (fifo_fill_level > n_frames_to_read*7) {
fifo_fill_level = n_frames_to_read*7;

6
src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp
View File

@@ -170,8 +170,8 @@ void BMI088_Gyroscope::RunImpl()
break;
case STATE::FIFO_READ: {
//FIFOReadTest(now);
NormalRead(now);
FIFOReadTest(now);
//NormalRead(now);
}
break;
}
@@ -467,7 +467,7 @@ bool BMI088_Gyroscope::FIFOReadTest(const hrt_abstime &timestamp_sample)
n_frames &= 0x7F;
int n_frames_to_read = 5;
int n_frames_to_read = 6;
// don't read more than 8 frames at a time
if (n_frames > n_frames_to_read) {
n_frames = n_frames_to_read;

1
src/lib/DriverFramework Submodule

Submodule src/lib/DriverFramework added at 06277ef49f