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[BACKPORT v1.14] icm45686: fix dt (and usage command) #22416

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merged 1 commit into from
Nov 20, 2023
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[BACKPORT v1.14] icm45686: fix dt (and usage command) #22416

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4 changes: 2 additions & 2 deletions src/drivers/imu/invensense/icm45686/ICM45686.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -522,7 +522,7 @@ void ICM45686::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DAT
accel.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);

} else {
accel.dt = FIFO_TIMESTAMP_SCALING;
accel.dt = FIFO_SAMPLE_DT;
}

// 20 bit hires mode
Expand Down Expand Up @@ -634,7 +634,7 @@ void ICM45686::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA
gyro.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);

} else {
gyro.dt = FIFO_TIMESTAMP_SCALING;
gyro.dt = FIFO_SAMPLE_DT;
}

// 20 bit hires mode
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2 changes: 1 addition & 1 deletion src/drivers/imu/invensense/icm45686/ICM45686.hpp
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Expand Up @@ -70,7 +70,7 @@ class ICM45686 : public device::SPI, public I2CSPIDriver<ICM45686>
void exit_and_cleanup() override;

// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f}; // 8000 Hz accel & gyro ODR configured
static constexpr float FIFO_SAMPLE_DT{1e6f / 6400.f}; // 6400 Hz accel & gyro ODR configured
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};

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2 changes: 1 addition & 1 deletion src/drivers/imu/invensense/icm45686/icm45686_main.cpp
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Expand Up @@ -38,7 +38,7 @@

void ICM45686::print_usage()
{
PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
PRINT_MODULE_USAGE_NAME("icm45686", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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