Increase mpu6000 rate and disable onchip dlpf.

PX4 · Jun 20, 2017 · b8c94bd · b8c94bd
1 parent 8b3fb1e
commit b8c94bd
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/drivers/mpu6000/mpu6000.h b/src/drivers/mpu6000/mpu6000.h
@@ -204,12 +204,12 @@
 #define MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	30
 
 #define MPU6000_GYRO_DEFAULT_RANGE_G				8
-#define MPU6000_GYRO_DEFAULT_RATE					1000
+#define MPU6000_GYRO_DEFAULT_RATE					8000
 /* rates need to be the same between accel and gyro */
 #define MPU6000_GYRO_MAX_OUTPUT_RATE				MPU6000_ACCEL_MAX_OUTPUT_RATE
 #define MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ		30
 
-#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ			42
+#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ			0 // disable
 
 #define MPU6000_ONE_G					9.80665f