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AP_InertialSensor: stop sensors converging if motors arm #28783

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AP_InertialSensor: stop sensors converging if motors arm #28783

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9 changes: 9 additions & 0 deletions libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,15 @@ void AP_InertialSensor_Backend::_set_gyro_oversampling(uint8_t instance, uint8_t
_imu._gyro_over_sampling[instance] = n;
}

/*
while sensors are converging to get the true sample rate we re-init the notch filters.
stop doing this if the user arms
*/
bool AP_InertialSensor_Backend::sensors_converging() const
{
return AP_HAL::millis64() < HAL_INS_CONVERGANCE_MS && !hal.util->get_soft_armed();
}

/*
update the sensor rate for FIFO sensors

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2 changes: 1 addition & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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Expand Up @@ -224,7 +224,7 @@ class AP_InertialSensor_Backend
void _update_sensor_rate(uint16_t &count, uint32_t &start_us, float &rate_hz) const __RAMFUNC__;

// return true if the sensors are still converging and sampling rates could change significantly
bool sensors_converging() const { return AP_HAL::millis() < HAL_INS_CONVERGANCE_MS; }
bool sensors_converging() const;

// set accelerometer max absolute offset for calibration
void _set_accel_max_abs_offset(uint8_t instance, float offset);
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