From 5b08c4f6ce2d50a4ee8858a31cb14bf1009a7582 Mon Sep 17 00:00:00 2001 From: Borong Yuan Date: Sat, 20 Jan 2024 13:23:33 +0800 Subject: [PATCH] Set IMU output frequency to 200 Hz --- corelib/src/camera/CameraDepthAI.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/corelib/src/camera/CameraDepthAI.cpp b/corelib/src/camera/CameraDepthAI.cpp index 82d3c0ea98..f75c5a4cfc 100644 --- a/corelib/src/camera/CameraDepthAI.cpp +++ b/corelib/src/camera/CameraDepthAI.cpp @@ -378,8 +378,8 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin if(imuPublished_) { - // enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 100 hz rate - imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 100); + // enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 200 hz rate + imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 200); // above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available imu->setBatchReportThreshold(1); // maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it