Merge pull request #8495 from shota3527/hardlpf_for_bmi270

fix lpf config for bmi270/bmi160
iNavFlight · Oct 24, 2022 · 2056a42 · 2056a42
2 parents 64b12b7 + 640e42e
commit 2056a42
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/drivers/accgyro/accgyro_bmi160.c b/src/main/drivers/accgyro/accgyro_bmi160.c
@@ -105,8 +105,8 @@ typedef struct __attribute__ ((__packed__)) bmi160ContextData_s {
 STATIC_ASSERT(sizeof(bmi160ContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
 
 static const gyroFilterAndRateConfig_t gyroConfigs[] = {
-    { GYRO_LPF_256HZ,   3200,   { BMI160_BWP_NORMAL | BMI160_ODR_3200_Hz} },
-    { GYRO_LPF_256HZ,   1600,   { BMI160_BWP_NORMAL | BMI160_ODR_1600_Hz} },
+    { GYRO_LPF_256HZ,   3200,   { BMI160_BWP_OSR4 | BMI160_ODR_3200_Hz} },
+    { GYRO_LPF_256HZ,   1600,   { BMI160_BWP_OSR2 | BMI160_ODR_1600_Hz} },
     { GYRO_LPF_256HZ,    800,   { BMI160_BWP_NORMAL | BMI160_ODR_800_Hz } },
 
     { GYRO_LPF_188HZ,    800,   { BMI160_BWP_OSR2   | BMI160_ODR_800_Hz } },  // ODR = 800 Hz, LPF = 128 Hz

diff --git a/src/main/drivers/accgyro/accgyro_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c
@@ -131,8 +131,8 @@ typedef struct __attribute__ ((__packed__)) bmi270ContextData_s {
 STATIC_ASSERT(sizeof(bmi270ContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
 
 static const gyroFilterAndRateConfig_t gyroConfigs[] = {
-    { GYRO_LPF_256HZ,   3200,   { BMI270_BWP_NORM | BMI270_ODR_3200} },
-    { GYRO_LPF_256HZ,   1600,   { BMI270_BWP_NORM | BMI270_ODR_1600} },
+    { GYRO_LPF_256HZ,   3200,   { BMI270_BWP_OSR4 | BMI270_ODR_3200} },
+    { GYRO_LPF_256HZ,   1600,   { BMI270_BWP_OSR2 | BMI270_ODR_1600} },
     { GYRO_LPF_256HZ,    800,   { BMI270_BWP_NORM | BMI270_ODR_800 } },
 
     { GYRO_LPF_188HZ,    800,   { BMI270_BWP_OSR2 | BMI270_ODR_800 } },