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Increase BMI160 output data rate 

VESC tool allows users to set IMU update frequency up to 1khz, but if the BMI160 output data rate is only 200hz, then this option is useless (and performance at 1khz is much better than 200hz).
This commit is contained in:
Mitch Lustig 2020-08-23 21:34:20 -07:00
parent 91bde64e71
commit 0073c57d59
1 changed files with 2 additions and 2 deletions
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4
imu/bmi160_wrapper.c
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@ -54,12 +54,12 @@ static bool reset_init_bmi(BMI_STATE *s) {
bmi160_init(&(s->sensor));
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ;
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
s->sensor.accel_cfg.range = BMI160_ACCEL_RANGE_16G;
s->sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
s->sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_1600HZ;
s->sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
s->sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
s->sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;