From 82f7539e4776936bd09c6935e2d9b8dc0da54fbc Mon Sep 17 00:00:00 2001 From: Matteo Pignataro <matteo.pignataro@skywarder.eu> Date: Sun, 11 Sep 2022 19:52:18 +0200 Subject: [PATCH] [Payload] Fixed GPS latency --- src/boards/Payload/Configs/SensorsConfig.h | 2 +- src/boards/Payload/Sensors/Sensors.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/boards/Payload/Configs/SensorsConfig.h b/src/boards/Payload/Configs/SensorsConfig.h index 4fc2a3ca3..dd35ac478 100644 --- a/src/boards/Payload/Configs/SensorsConfig.h +++ b/src/boards/Payload/Configs/SensorsConfig.h @@ -81,7 +81,7 @@ constexpr unsigned int IMU_BMX_ACC_DATA_SIZE = 6; constexpr unsigned int IMU_BMX_GYRO_DATA_SIZE = 6; constexpr unsigned int IMU_BMX_MAG_DATA_SIZE = 8; -constexpr unsigned int IMU_BMX_FIFO_WATERMARK = 80; +constexpr unsigned int IMU_BMX_FIFO_WATERMARK = 40; // How many bytes go into the fifo each second constexpr unsigned int IMU_BMX_FIFO_FILL_RATE = diff --git a/src/boards/Payload/Sensors/Sensors.cpp b/src/boards/Payload/Sensors/Sensors.cpp index 960a28b29..fb39a0105 100644 --- a/src/boards/Payload/Sensors/Sensors.cpp +++ b/src/boards/Payload/Sensors/Sensors.cpp @@ -239,7 +239,7 @@ Sensors::~Sensors() void Sensors::bmx160Init() { SPIBusConfig spiConfig; - spiConfig.clockDivider = SPI::ClockDivider::DIV_16; + spiConfig.clockDivider = SPI::ClockDivider::DIV_8; BMX160Config config; config.fifoMode = BMX160Config::FifoMode::HEADER; -- GitLab