From f05c5e91834ee5e338e06cc903c6e1b7bdc79d3c Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Tue, 3 Sep 2019 00:37:26 +0000
Subject: [PATCH] Update PX4 Firmware metadata Tue Sep  3 00:37:26 UTC 2019

---
 src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index c40ad8664..572952cd2 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -8380,7 +8380,7 @@ is less than 50% of this value</short_desc>
     </parameter>
     <parameter default="30.0" name="IMU_ACCEL_CUTOFF" type="FLOAT">
       <short_desc>Driver level cutoff frequency for accel</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the accel driver. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
       <min>0</min>
       <max>1000</max>
       <unit>Hz</unit>
@@ -8388,12 +8388,20 @@ is less than 50% of this value</short_desc>
     </parameter>
     <parameter default="30.0" name="IMU_GYRO_CUTOFF" type="FLOAT">
       <short_desc>Driver level cutoff frequency for gyro</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
       <min>0</min>
       <max>1000</max>
       <unit>Hz</unit>
       <reboot_required>true</reboot_required>
     </parameter>
+    <parameter default="0" name="IMU_GYRO_RATEMAX" type="INT32">
+      <short_desc>Gyro control data maximum publication rate</short_desc>
+      <long_desc>This is the maximum rate the gyro control data (sensor_gyro_control) will be allowed to publish at. Set to 0 to disable and publish at the native sensor sample rate.</long_desc>
+      <min>0</min>
+      <max>2000</max>
+      <unit>Hz</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter default="18139" name="INA226_CONFIG" type="INT32">
       <short_desc>INA226 Power Monitor Config</short_desc>
       <min>0</min>
-- 
2.22.0