AP_InertialSensor: support dynamic configuration of highres IMUs

ArduPilot · Apr 15, 2024 · 5ec9eac · 5ec9eac
1 parent d964d7f
commit 5ec9eac
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Showing 2 changed files with 13 additions and 3 deletions.
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -54,6 +54,14 @@ void AP_InertialSensor_Backend::_set_gyro_oversampling(uint8_t instance, uint8_t
     _imu._gyro_over_sampling[instance] = n;
 }
 
+#define BOARD_MATCH(board_type) AP_BoardConfig::get_board_type()==AP_BoardConfig::board_type
+
+// should highres sampling be enabled on this IMU?
+bool AP_InertialSensor_Backend::enable_highres_sampling(uint8_t instance) const
+{
+    return (HAL_INS_HIGHRES_SAMPLE_MASK & (1U<<instance)) != 0;
+}
+
 /*
   update the sensor rate for FIFO sensors
 

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -33,6 +33,10 @@
 #define HAL_INS_HIGHRES_SAMPLE 0
 #endif
 
+#ifndef HAL_INS_HIGHRES_SAMPLE_MASK
+#define HAL_INS_HIGHRES_SAMPLE_MASK 0
+#endif
+
 class AuxiliaryBus;
 class AP_Logger;
 
@@ -293,9 +297,7 @@ class AP_InertialSensor_Backend
     }
 
     // should highres sampling be enabled on this IMU?
-    bool enable_highres_sampling(uint8_t instance) const {
-        return (HAL_INS_HIGHRES_SAMPLE & (1U<<instance)) != 0;
-    }
+    bool enable_highres_sampling(uint8_t instance) const;
 
     // if fast sampling is enabled, the rate to use in kHz
     uint8_t get_fast_sampling_rate() const {