sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX

PX4 · Jun 7, 2022 · beaebe4 · beaebe4
1 parent 0bddca6
commit beaebe4
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Showing 2 changed files with 1 addition and 3 deletions.
diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
@@ -146,8 +146,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
 		}
 
 		// constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
-		int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
-						  (int32_t)50, math::min(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
+		const int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(), (int32_t)50, (int32_t)1000);
 
 		if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
 			PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);

diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp
@@ -186,7 +186,6 @@ class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
-		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
 		(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal
 	)
 };