From 4ca58f240c00c8bc464e538e7bdb991901fa2fab Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 29 Mar 2013 01:03:49 +0900
Subject: [PATCH] Copter: INS_MPU6K_FILTER defaulted to 20hz
---
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 1c723fa1f..867e8e6ba 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -393,7 +393,7 @@ void AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
break;
case RATE_100HZ:
rate = MPUREG_SMPLRT_100HZ;
- default_filter = BITS_DLPF_CFG_42HZ;
+ default_filter = BITS_DLPF_CFG_20HZ;
_micros_per_sample = 10000;
break;
case RATE_200HZ:
--
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