icm45686: fix dt (and usage command)

With the wrong dt, the flight behaviour was really poor and noisy, so this fix is absolutely required. Signed-off-by: Julian Oes <julian@oes.ch>
PX4 · Nov 20, 2023 · b15e57d · b15e57d
1 parent 9ab8970
commit b15e57d
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/drivers/imu/invensense/icm45686/ICM45686.cpp b/src/drivers/imu/invensense/icm45686/ICM45686.cpp
@@ -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
@@ -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

diff --git a/src/drivers/imu/invensense/icm45686/ICM45686.hpp b/src/drivers/imu/invensense/icm45686/ICM45686.hpp
@@ -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};
 

diff --git a/src/drivers/imu/invensense/icm45686/icm45686_main.cpp b/src/drivers/imu/invensense/icm45686/icm45686_main.cpp
@@ -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);