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[Spinal][Communication][WIP] switch to ETH mode #617

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[Spinal][Communication][WIP] switch to ETH mode #617

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0dcb3f4
[Spinal] switch to ETH mode
tongtybj Jun 15, 2024
7c1fca0
[Spinal] increase the imu pub rate from 200Hz to 500Hz
tongtybj Jun 15, 2024
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2 changes: 1 addition & 1 deletion aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ extern "C" {

/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
// #define USE_ETH // comment out if we do not have eth
#define USE_ETH // comment out if we do not have eth
/* USER CODE END EM */

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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2 changes: 1 addition & 1 deletion ...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h
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Expand Up @@ -238,7 +238,7 @@ class AttitudeEstimate
inline const ap::Vector3f getSmoothAngular(uint8_t frame) { return estimator_->getSmoothAngular(frame); }
inline const ap::Matrix3f getDesiredCoord() { return estimator_->getDesiredCoord(); }

static const uint8_t IMU_PUB_INTERVAL = 5; //10-> 100Hz, 2 -> 500Hz
static const uint8_t IMU_PUB_INTERVAL = 2; //10-> 100Hz, 2 -> 500Hz
static const uint8_t ATTITUDE_PUB_INTERVAL = 100; //100 -> 10Hz

private:
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