error if non-standard periodic freq without imu sampling spec (#3191)

--------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
paparazzi · Dec 13, 2023 · 38d8388 · 38d8388
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Showing 3 changed files with 3 additions and 1 deletion.
diff --git a/sw/airborne/modules/imu/imu_mpu6000.c b/sw/airborne/modules/imu/imu_mpu6000.c
@@ -68,7 +68,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 #ifndef IMU_MPU_ACCEL_LOWPASS_FILTER
 #define IMU_MPU_ACCEL_LOWPASS_FILTER MPU60X0_DLPF_ACC_44HZ // for ICM sensors
 #endif
-INFO("Non-default PERIODIC_FREQUENCY: using default IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV.")
+#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV."
 #endif
 #endif
 PRINT_CONFIG_VAR(IMU_MPU_LOWPASS_FILTER)

diff --git a/sw/airborne/modules/imu/imu_mpu9250_i2c.c b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
@@ -57,6 +57,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 #define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_ACCEL_LOWPASS_FILTER and IMU_MPU9250_SMPLRT_DIV."
 #endif
 #endif
 PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)

diff --git a/sw/airborne/modules/imu/imu_mpu9250_spi.c b/sw/airborne/modules/imu/imu_mpu9250_spi.c
@@ -63,6 +63,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 #define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_ACCEL_LOWPASS_FILTER and IMU_MPU9250_SMPLRT_DIV."
 #endif
 #endif
 PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)