Batch sampling frequencies seem to ignore the settings in params

ArduCopter Copter 4.2
1

I’m doing FFT analysis and I need the sampling frequency to be 1kHz (with 1024 samples in a batch = 1s long batches). The recordings I receive have 4kHz acc and 8kHz gyro sampling.

I know that with Ardupilot 4.1, “the backend rate has been made configurable for IMUs that support fast sampling”, so I set the INS_GYRO_RATE to 0, which should give “the same behaviour as previous firmware versions” - source

However, even after this change, the sampling is still 4kHz for acc and 8kHz for gyro. I attach the bin file and the parameter file, any input is appreciated.
x4s-1.param (17.1 KB)
2022-08-22 10-44-50.zip (986.0 KB)

2

Set INS_LOG_BAT_OPT,0

3

Thank you, that solved it. I don’t find the parameter documentation on it to be clear enough and wanted to edit it, but I’m getting “404” (probably don’t have the rights to view it) https://github.com/ArduPilot/ardupilot_wiki/blob/master/copter/source/docs/parameters-Copter-stable-V4.2.2.rst

4

https://ardupilot.org/ardupilot/docs/common-wiki_editing_guide.html

5

Thank you for the response, however, I have read through the guide before trying to make the change. Using the “Edit on GitHub” button (as instructed here), I get the aforementioned error 404, and could not even find the page in the repo manually. Since it clearly is stored in “/copter/source/docs/” and I cannot see it, I came to the conclusion that I do not have the privilege to view it.

6

You will need to fork and do a PR

7

Forking does not reveal files that I couldn’t see before forking.

8

you cannot edit the parameters.rst file…its auto-generated from the firmware code…the only way to change the metadata of a parameter is to do a direct PR to the firmware code base changing the file where the parameter is defined…
but I will look into that wiki page to see if I can make things clearer

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