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Make sure that ICM20948 is only updated once per loop when needed

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This commit is contained in:
Niklas Jensen
2025-12-26 22:33:16 +01:00
parent 9b4b939b1b
commit da87d12588
2 changed files with 18 additions and 9 deletions
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esp32/include/peripherals/imu.h
+8 -4
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@@ -138,13 +138,17 @@ class IMU : public SensorBase<IMUAnglesMsg> {
return false;
#endif
#if FT_ENABLED(USE_ICM20948)
#ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
#define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
if (_imu->dataReady())
{
{
_imu->getAGMT();
_msg.rpy[0] = _imu->gyrX();
_msg.rpy[1] = _imu->gyrY();
_msg.rpy[2] = _imu->gyrZ();
}
#endif
_msg.rpy[0] = _imu->accX();
_msg.rpy[1] = _imu->accY();
_msg.rpy[2] = _imu->accZ();
#endif
#if FT_ENABLED(USE_BNO055)
sensors_event_t event;