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;
-- 
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