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kriswiner / LSM9DS0

LSM9DS0 9DOF sensor AHRS sketch
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Gyro sampling rate #6

Open applovinravi opened 9 years ago

applovinravi commented 9 years ago

I am not sure whether this is a bug and if it is benign or if it is just a commenting error.

It seems for 100 Hz, the register setting should be 0x67 and not 0x57.

I came across this while trying to port the Bias estimate and the madgwick filter to a Adafruit Flora, to get more stable reading.

// From the manual //0 1 0 1 50 Hz 0 1 1 0 100 Hz

From Adafruit code: write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG1_XM, 0x67);

From this code: xmWriteByte(CTRL_REG1_XM, 0x57); // 100Hz data rate, x/y/z all enabled

kriswiner commented 9 years ago

Hi, this is probably just laziness on my part not changing the comment after changing the rate. The better way would be to paramatrize (gyroODR = gODR50Hz defined as 0x60, e.g. ) the rates and use the parameters instead.

The idea for these sketches is to provide a basic capability that the user (that's you!) would modify for a particular application. I'm glad to see people (you again!) using the sketches...