sensors: move gyro filtering to sensors/vehicle_angular_velocity

- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
 - sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
 - In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.

msg/sensor_gyro_status.msg

@@ -11,7 +11,6 @@ uint8 rotation
 uint32[3] clipping        # clipping per axis
 
 uint16 measure_rate
-uint16 sample_rate
 
 float32 full_scale_range
 

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -50,13 +50,13 @@ namespace wq_configurations
 {
 static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
 
-static constexpr wq_config_t SPI0{"wq:SPI0", 1600, -1};
-static constexpr wq_config_t SPI1{"wq:SPI1", 1600, -2};
-static constexpr wq_config_t SPI2{"wq:SPI2", 1616, -3};
-static constexpr wq_config_t SPI3{"wq:SPI3", 1600, -4};
-static constexpr wq_config_t SPI4{"wq:SPI4", 1600, -5};
-static constexpr wq_config_t SPI5{"wq:SPI5", 1600, -6};
-static constexpr wq_config_t SPI6{"wq:SPI6", 1600, -7};
+static constexpr wq_config_t SPI0{"wq:SPI0", 1900, -1};
+static constexpr wq_config_t SPI1{"wq:SPI1", 1900, -2};
+static constexpr wq_config_t SPI2{"wq:SPI2", 1900, -3};
+static constexpr wq_config_t SPI3{"wq:SPI3", 1900, -4};
+static constexpr wq_config_t SPI4{"wq:SPI4", 1900, -5};
+static constexpr wq_config_t SPI5{"wq:SPI5", 1900, -6};
+static constexpr wq_config_t SPI6{"wq:SPI6", 1900, -7};
 
 static constexpr wq_config_t I2C0{"wq:I2C0", 1400, -8};
 static constexpr wq_config_t I2C1{"wq:I2C1", 1400, -9};

src/drivers/imu/adis16448/ADIS16448.cpp

@@ -259,7 +259,6 @@ ADIS16448::set_sample_rate(uint16_t desired_sample_rate_hz)
 	}
 
 	_px4_accel.set_sample_rate(desired_sample_rate_hz);
-	_px4_gyro.set_sample_rate(desired_sample_rate_hz);
 
 	return true;
 }

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -71,7 +71,6 @@ ADIS16477::ADIS16477(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
 
 	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16477);
-	_px4_gyro.set_sample_rate(ADIS16477_DEFAULT_RATE);
 	_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
 }
 

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -87,7 +87,6 @@ ADIS16497::ADIS16497(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel.set_sample_rate(ADIS16497_DEFAULT_RATE);
 
 	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16497);
-	_px4_gyro.set_sample_rate(ADIS16497_DEFAULT_RATE);
 }
 
 ADIS16497::~ADIS16497()

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -429,8 +429,6 @@ FXAS21002C::set_samplerate(unsigned frequency)
 	modify_reg(FXAS21002C_CTRL_REG1, CTRL_REG1_DR_MASK, bits);
 	set_standby(_current_rate, false);
 
-	_px4_gyro.set_sample_rate(_current_rate);
-
 	return OK;
 }
 

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -59,7 +59,6 @@ ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
 
 	_px4_accel.set_sample_rate(ACCEL_RATE);
-	_px4_gyro.set_sample_rate(GYRO_RATE);
 
 	_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
 	_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);

src/drivers/imu/invensense/icm20608-g/ICM20608G.cpp

@@ -59,7 +59,6 @@ ICM20608G::ICM20608G(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20608);
 
 	_px4_accel.set_sample_rate(ACCEL_RATE);
-	_px4_gyro.set_sample_rate(GYRO_RATE);
 
 	_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
 	_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);

src/drivers/imu/mpu6000/MPU6000.cpp

@@ -649,13 +649,6 @@ MPU6000::stop()
 	memset(_last_accel, 0, sizeof(_last_accel));
 }
 
-void
-MPU6000::Run()
-{
-	/* make another measurement */
-	measure();
-}
-
 void
 MPU6000::check_registers(void)
 {
@@ -717,17 +710,16 @@ MPU6000::check_registers(void)
 	_checked_next = (_checked_next + 1) % MPU6000_NUM_CHECKED_REGISTERS;
 }
 
-int
-MPU6000::measure()
+void MPU6000::Run()
 {
 	if (_in_factory_test) {
 		// don't publish any data while in factory test mode
-		return OK;
+		return;
 	}
 
 	if (hrt_absolute_time() < _reset_wait) {
 		// we're waiting for a reset to complete
-		return OK;
+		return;
 	}
 
 	struct MPUReport mpu_report;
@@ -756,7 +748,8 @@ MPU6000::measure()
 	if (sizeof(mpu_report) != _interface->read(MPU6000_SET_SPEED(MPUREG_INT_STATUS, MPU6000_HIGH_BUS_SPEED),
 			(uint8_t *)&mpu_report, sizeof(mpu_report))) {
 
-		return -EIO;
+		perf_end(_sample_perf);
+		return;
 	}
 
 	check_registers();
@@ -774,9 +767,11 @@ MPU6000::measure()
 		perf_end(_sample_perf);
 		perf_count(_duplicates);
 		_got_duplicate = true;
-		return OK;
+		return;
 	}
 
+	perf_end(_sample_perf);
+
 	memcpy(&_last_accel[0], &mpu_report.accel_x[0], 6);
 	_got_duplicate = false;
 
@@ -804,20 +799,19 @@ MPU6000::measure()
 
 		// all zero data - probably a SPI bus error
 		perf_count(_bad_transfers);
-		perf_end(_sample_perf);
 
 		// note that we don't call reset() here as a reset()
 		// costs 20ms with interrupts disabled. That means if
 		// the mpu6k does go bad it would cause a FMU failure,
 		// regardless of whether another sensor is available,
-		return -EIO;
+		return;
 	}
 
 	if (_register_wait != 0) {
 		// we are waiting for some good transfers before using
 		// the sensor again, don't return any data yet
 		_register_wait--;
-		return OK;
+		return;
 	}
 
 
@@ -876,10 +870,6 @@ MPU6000::measure()
 
 	_px4_accel.update(timestamp_sample, report.accel_x, report.accel_y, report.accel_z);
 	_px4_gyro.update(timestamp_sample, report.gyro_x, report.gyro_y, report.gyro_z);
-
-	/* stop measuring */
-	perf_end(_sample_perf);
-	return OK;
 }
 
 void

src/drivers/imu/mpu6000/MPU6000.hpp

@@ -394,11 +394,6 @@ private:
 	 */
 	bool 		is_mpu_device() { return _device_type == MPU_DEVICE_TYPE_MPU6000; }
 
-	/**
-	 * Fetch measurements from the sensor and update the report buffers.
-	 */
-	int			measure();
-
 	/**
 	 * Read a register from the MPU6000
 	 *

src/drivers/imu/st/ism330dlc/ISM330DLC.cpp

@@ -53,7 +53,6 @@ ISM330DLC::ISM330DLC(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_gyro.set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
 
 	_px4_accel.set_sample_rate(ST_ISM330DLC::LA_ODR);
-	_px4_gyro.set_sample_rate(ST_ISM330DLC::G_ODR);
 
 	_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
 	_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -49,7 +49,6 @@ LSM9DS1::LSM9DS1(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
 
 	_px4_accel.set_sample_rate(ST_LSM9DS1::LA_ODR);
-	_px4_gyro.set_sample_rate(ST_LSM9DS1::G_ODR);
 
 	_px4_accel.set_update_rate(1000000 / _fifo_interval);
 	_px4_gyro.set_update_rate(1000000 / _fifo_interval);

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -65,7 +65,6 @@ static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, u
 
 PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
 	CDev(nullptr),
-	ModuleParams(nullptr),
 	_sensor_pub{ORB_ID(sensor_gyro), priority},
 	_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo), priority},
 	_sensor_integrated_pub{ORB_ID(sensor_gyro_integrated), priority},
@@ -75,11 +74,6 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
 	_rotation_dcm{get_rot_matrix(rotation)}
 {
 	_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
-
-	// set software low pass filter for controllers
-	updateParams();
-	ConfigureFilter(_param_imu_gyro_cutoff.get());
-	ConfigureNotchFilter(_param_imu_gyro_nf_freq.get(), _param_imu_gyro_nf_bw.get());
 }
 
 PX4Gyroscope::~PX4Gyroscope()
@@ -123,14 +117,6 @@ void PX4Gyroscope::set_device_type(uint8_t devtype)
 	_device_id = device_id.devid;
 }
 
-void PX4Gyroscope::set_sample_rate(uint16_t rate)
-{
-	_sample_rate = rate;
-
-	ConfigureFilter(_filter.get_cutoff_freq());
-	ConfigureNotchFilter(_notch_filter.getNotchFreq(), _notch_filter.getBandwidth());
-}
-
 void PX4Gyroscope::set_update_rate(uint16_t rate)
 {
 	const uint32_t update_interval = 1000000 / rate;
@@ -155,21 +141,16 @@ void PX4Gyroscope::update(hrt_abstime timestamp_sample, float x, float y, float
 	// Apply range scale and the calibrating offset/scale
 	const Vector3f val_calibrated{((raw * _scale) - _calibration_offset)};
 
-	// Filtered values: apply notch and then low-pass
-	Vector3f val_filtered{_notch_filter.apply(val_calibrated)};
-	val_filtered = _filter.apply(val_filtered);
-
-
-	// publish control data (filtered) immediately
+	// publish raw data immediately
 	{
 		sensor_gyro_s report{};
 
 		report.timestamp_sample = timestamp_sample;
 		report.device_id = _device_id;
 		report.temperature = _temperature;
-		report.x = val_filtered(0);
-		report.y = val_filtered(1);
-		report.z = val_filtered(2);
+		report.x = val_calibrated(0);
+		report.y = val_calibrated(1);
+		report.z = val_calibrated(2);
 		report.timestamp = hrt_absolute_time();
 
 		_sensor_pub.publish(report);
@@ -213,45 +194,30 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
 	const uint8_t N = sample.samples;
 	const float dt = sample.dt;
 
-	// filtered data (control)
-	float x_filtered = _filterArrayX.apply(sample.x, N);
-	float y_filtered = _filterArrayY.apply(sample.y, N);
-	float z_filtered = _filterArrayZ.apply(sample.z, N);
-
-	// Apply rotation (before scaling)
-	rotate_3f(_rotation, x_filtered, y_filtered, z_filtered);
-
-	// Apply range scale and the calibration offset
-	const Vector3f val_calibrated{(Vector3f{x_filtered, y_filtered, z_filtered} * _scale) - _calibration_offset};
-
-
-	// publish control data (filtered) immediately
+	// publish raw data immediately
 	{
-		bool publish_control = true;
+		// average
+		float x = (float)sum(sample.x, N) / (float)N;
+		float y = (float)sum(sample.y, N) / (float)N;
+		float z = (float)sum(sample.z, N) / (float)N;
 
-		if (_param_imu_gyro_rate_max.get() > 0) {
-			const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get();
+		// Apply rotation (before scaling)
+		rotate_3f(_rotation, x, y, z);
 
-			if (hrt_elapsed_time(&_control_last_publish) < interval) {
-				publish_control = false;
-			}
-		}
-
-		if (publish_control) {
-			sensor_gyro_s report{};
+		// Apply range scale and the calibration offset
+		const Vector3f val_calibrated{(Vector3f{x, y, z} * _scale) - _calibration_offset};
 
-			report.timestamp_sample = sample.timestamp_sample;
-			report.device_id = _device_id;
-			report.temperature = _temperature;
-			report.x = val_calibrated(0);
-			report.y = val_calibrated(1);
-			report.z = val_calibrated(2);
-			report.timestamp = hrt_absolute_time();
+		sensor_gyro_s report{};
 
-			_sensor_pub.publish(report);
+		report.timestamp_sample = sample.timestamp_sample;
+		report.device_id = _device_id;
+		report.temperature = _temperature;
+		report.x = val_calibrated(0);
+		report.y = val_calibrated(1);
+		report.z = val_calibrated(2);
+		report.timestamp = hrt_absolute_time();
 
-			_control_last_publish = report.timestamp_sample;
-		}
+		_sensor_pub.publish(report);
 	}
 
 
@@ -356,7 +322,6 @@ void PX4Gyroscope::PublishStatus()
 		status.full_scale_range = _range;
 		status.rotation = _rotation;
 		status.measure_rate = _update_rate;
-		status.sample_rate = _sample_rate;
 		status.temperature = _temperature;
 		status.vibration_metric = _vibration_metric;
 		status.coning_vibration = _coning_vibration;
@@ -380,20 +345,6 @@ void PX4Gyroscope::ResetIntegrator()
 	_timestamp_sample_prev = 0;
 }
 
-void PX4Gyroscope::ConfigureFilter(float cutoff_freq)
-{
-	_filter.set_cutoff_frequency(_sample_rate, cutoff_freq);
-
-	_filterArrayX.set_cutoff_frequency(_sample_rate, cutoff_freq);
-	_filterArrayY.set_cutoff_frequency(_sample_rate, cutoff_freq);
-	_filterArrayZ.set_cutoff_frequency(_sample_rate, cutoff_freq);
-}
-
-void PX4Gyroscope::ConfigureNotchFilter(float notch_freq, float bandwidth)
-{
-	_notch_filter.setParameters(_sample_rate, notch_freq, bandwidth);
-}
-
 void PX4Gyroscope::UpdateClipLimit()
 {
 	// 95% of potential max
@@ -417,10 +368,6 @@ void PX4Gyroscope::UpdateVibrationMetrics(const Vector3f &delta_angle)
 void PX4Gyroscope::print_status()
 {
 	PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
-	PX4_INFO("sample rate: %d Hz", _sample_rate);
-	PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());
-	PX4_INFO("notch filter freq: %.3f Hz\tbandwidth: %.3f Hz", (double)_notch_filter.getNotchFreq(),
-		 (double)_notch_filter.getBandwidth());
 
 	PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
 		 (double)_calibration_offset(2));

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -38,17 +38,13 @@
 #include <lib/cdev/CDev.hpp>
 #include <lib/conversion/rotation.h>
 #include <lib/drivers/device/integrator.h>
-#include <lib/mathlib/math/filter/LowPassFilter2pArray.hpp>
-#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
-#include <lib/mathlib/math/filter/NotchFilter.hpp>
-#include <px4_platform_common/module_params.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_gyro.h>
 #include <uORB/topics/sensor_gyro_fifo.h>
 #include <uORB/topics/sensor_gyro_integrated.h>
 #include <uORB/topics/sensor_gyro_status.h>
 
-class PX4Gyroscope : public cdev::CDev, public ModuleParams
+class PX4Gyroscope : public cdev::CDev
 {
 public:
 	PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
@@ -62,7 +58,6 @@ public:
 	void set_device_type(uint8_t devtype);
 	void set_error_count(uint64_t error_count) { _error_count += error_count; }
 	void set_range(float range) { _range = range; UpdateClipLimit(); }
-	void set_sample_rate(uint16_t rate);
 	void set_scale(float scale) { _scale = scale; UpdateClipLimit(); }
 	void set_temperature(float temperature) { _temperature = temperature; }
 	void set_update_rate(uint16_t rate);
@@ -88,8 +83,6 @@ public:
 
 private:
 
-	void ConfigureFilter(float cutoff_freq);
-	void ConfigureNotchFilter(float notch_freq, float bandwidth);
 	void PublishStatus();
 	void ResetIntegrator();
 	void UpdateClipLimit();
@@ -100,16 +93,8 @@ private:
 	uORB::PublicationMulti<sensor_gyro_integrated_s> _sensor_integrated_pub;
 	uORB::PublicationMulti<sensor_gyro_status_s>     _sensor_status_pub;
 
-	math::LowPassFilter2pVector3f _filter{1000, 100};
-	math::NotchFilter<matrix::Vector3f> _notch_filter{};
-
-	hrt_abstime	_control_last_publish{0};
 	hrt_abstime	_status_last_publish{0};
 
-	math::LowPassFilter2pArray _filterArrayX{8000, 100};
-	math::LowPassFilter2pArray _filterArrayY{8000, 100};
-	math::LowPassFilter2pArray _filterArrayZ{8000, 100};
-
 	Integrator		_integrator{4000, true};
 
 	matrix::Vector3f	_calibration_offset{0.f, 0.f, 0.f};
@@ -134,7 +119,6 @@ private:
 
 	uint32_t		_clipping[3] {};
 
-	uint16_t		_sample_rate{1000};
 	uint16_t		_update_rate{1000};
 
 	// integrator
@@ -146,10 +130,4 @@ private:
 	uint8_t			_integrator_fifo_samples{0};
 	uint8_t			_integrator_clipping{0};
 
-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
-		(ParamFloat<px4::params::IMU_GYRO_NF_FREQ>) _param_imu_gyro_nf_freq,
-		(ParamFloat<px4::params::IMU_GYRO_NF_BW>) _param_imu_gyro_nf_bw,
-		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max
-	)
 };

src/lib/mathlib/math/filter/LowPassFilter2pArray.hpp

@@ -38,6 +38,8 @@
 
 #include "LowPassFilter2p.hpp"
 
+#include <px4_platform_common/defines.h>
+
 namespace math
 {
 

src/lib/perf/perf_counter.cpp

@@ -207,47 +207,9 @@ perf_count(perf_counter_t handle)
 		((struct perf_ctr_count *)handle)->event_count++;
 		break;
 
-	case PC_INTERVAL: {
-			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-			hrt_abstime now = hrt_absolute_time();
-
-			switch (pci->event_count) {
-			case 0:
-				pci->time_first = now;
-				break;
-
-			case 1:
-				pci->time_least = (uint32_t)(now - pci->time_last);
-				pci->time_most = (uint32_t)(now - pci->time_last);
-				pci->mean = pci->time_least / 1e6f;
-				pci->M2 = 0;
-				break;
-
-			default: {
-					hrt_abstime interval = now - pci->time_last;
-
-					if ((uint32_t)interval < pci->time_least) {
-						pci->time_least = (uint32_t)interval;
-					}
-
-					if ((uint32_t)interval > pci->time_most) {
-						pci->time_most = (uint32_t)interval;
-					}
-
-					// maintain mean and variance of interval in seconds
-					// Knuth/Welford recursive mean and variance of update intervals (via Wikipedia)
-					float dt = interval / 1e6f;
-					float delta_intvl = dt - pci->mean;
-					pci->mean += delta_intvl / pci->event_count;
-					pci->M2 += delta_intvl * (dt - pci->mean);
-					break;
-				}
-			}
-
-			pci->time_last = now;
-			pci->event_count++;
-			break;
-		}
+	case PC_INTERVAL:
+		perf_count_interval(handle, hrt_absolute_time());
+		break;
 
 	default:
 		break;
@@ -357,6 +319,60 @@ perf_set_elapsed(perf_counter_t handle, int64_t elapsed)
 	}
 }
 
+void
+perf_count_interval(perf_counter_t handle, hrt_abstime now)
+{
+	if (handle == nullptr) {
+		return;
+	}
+
+	switch (handle->type) {
+	case PC_INTERVAL: {
+			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+
+			switch (pci->event_count) {
+			case 0:
+				pci->time_first = now;
+				break;
+
+			case 1:
+				pci->time_least = (uint32_t)(now - pci->time_last);
+				pci->time_most = (uint32_t)(now - pci->time_last);
+				pci->mean = pci->time_least / 1e6f;
+				pci->M2 = 0;
+				break;
+
+			default: {
+					hrt_abstime interval = now - pci->time_last;
+
+					if ((uint32_t)interval < pci->time_least) {
+						pci->time_least = (uint32_t)interval;
+					}
+
+					if ((uint32_t)interval > pci->time_most) {
+						pci->time_most = (uint32_t)interval;
+					}
+
+					// maintain mean and variance of interval in seconds
+					// Knuth/Welford recursive mean and variance of update intervals (via Wikipedia)
+					float dt = interval / 1e6f;
+					float delta_intvl = dt - pci->mean;
+					pci->mean += delta_intvl / pci->event_count;
+					pci->M2 += delta_intvl * (dt - pci->mean);
+					break;
+				}
+			}
+
+			pci->time_last = now;
+			pci->event_count++;
+			break;
+		}
+
+	default:
+		break;
+	}
+}
+
 void
 perf_set_count(perf_counter_t handle, uint64_t count)
 {
@@ -396,8 +412,6 @@ perf_cancel(perf_counter_t handle)
 	}
 }
 
-
-
 void
 perf_reset(perf_counter_t handle)
 {
@@ -571,6 +585,31 @@ perf_event_count(perf_counter_t handle)
 	return 0;
 }
 
+float
+perf_mean(perf_counter_t handle)
+{
+	if (handle == nullptr) {
+		return 0;
+	}
+
+	switch (handle->type) {
+	case PC_ELAPSED: {
+			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+			return pce->mean;
+		}
+
+	case PC_INTERVAL: {
+			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+			return pci->mean;
+		}
+
+	default:
+		break;
+	}
+
+	return 0.0f;
+}
+
 void
 perf_iterate_all(perf_callback cb, void *user)
 {

src/lib/perf/perf_counter.h

@@ -132,6 +132,18 @@ __EXPORT extern void		perf_end(perf_counter_t handle);
  */
 __EXPORT extern void		perf_set_elapsed(perf_counter_t handle, int64_t elapsed);
 
+/**
+ * Register a measurement
+ *
+ * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
+ * If a call is made without a corresponding perf_begin call. It sets the
+ * value provided as argument as a new measurement.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ * @param time			The time for the interval.
+ */
+__EXPORT extern void		perf_count_interval(perf_counter_t handle, uint64_t time);
+
 /**
  * Set a counter
  *
@@ -228,6 +240,14 @@ __EXPORT extern void		perf_reset_all(void);
  */
 __EXPORT extern uint64_t	perf_event_count(perf_counter_t handle);
 
+/**
+ * Return current mean
+ *
+ * @param handle		The handle returned from perf_alloc.
+ * @param return		mean
+ */
+__EXPORT extern float		perf_mean(perf_counter_t handle);
+
 __END_DECLS
 
 #endif

src/modules/sensors/sensor_params.c

@@ -213,70 +213,6 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
  */
 PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
 
-/**
-* Driver level notch frequency for gyro
-*
-* The center frequency for the 2nd order notch filter on the gyro driver.
-* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
-* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
-* See "IMU_GYRO_NF_BW" to set the bandwidth of the filter.
-*
-* @min 0
-* @max 1000
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_FLOAT(IMU_GYRO_NF_FREQ, 0.0f);
-
-/**
-* Driver level notch bandwidth for gyro
-*
-* The frequency width of the stop band for the 2nd order notch filter on the gyro driver.
-* See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency.
-*
-* @min 0
-* @max 100
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
-
-/**
-* Driver level cutoff frequency for gyro
-*
-* 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.
-*
-* @min 0
-* @max 1000
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
-
-/**
-* Gyro control data maximum publication rate
-*
-* This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at.
-* Set to 0 to disable and publish at the native sensor sample rate.
-*
-* @min 0
-* @max 2000
-* @value 0 0 (no limit)
-* @value 50 50 Hz
-* @value 250 250 Hz
-* @value 400 400 Hz
-* @value 1000 1000 Hz
-* @value 2000 2000 Hz
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
-
 /**
 * Driver level cutoff frequency for accel
 *

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -43,11 +43,15 @@ VehicleAngularVelocity::VehicleAngularVelocity() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
 {
+	_lowpass_filter.set_cutoff_frequency(kInitialRateHz, _param_imu_gyro_cutoff.get());
+	_notch_filter.setParameters(kInitialRateHz, _param_imu_gyro_nf_freq.get(), _param_imu_gyro_nf_bw.get());
 }
 
 VehicleAngularVelocity::~VehicleAngularVelocity()
 {
 	Stop();
+
+	perf_free(_interval_perf);
 }
 
 bool VehicleAngularVelocity::Start()
@@ -77,6 +81,50 @@ void VehicleAngularVelocity::Stop()
 	_sensor_selection_sub.unregisterCallback();
 }
 
+void VehicleAngularVelocity::CheckFilters(const Vector3f &rates)
+{
+	if ((hrt_elapsed_time(&_filter_check_last) > 100_ms)) {
+		_filter_check_last = hrt_absolute_time();
+
+		// calculate sensor update rate
+		const float sample_interval_avg = perf_mean(_interval_perf);
+
+		if (PX4_ISFINITE(sample_interval_avg) && (sample_interval_avg > 0.0f)) {
+
+			const float update_rate_hz = 1.0f / sample_interval_avg;
+
+			if ((fabsf(update_rate_hz) > 0.0f) && PX4_ISFINITE(update_rate_hz)) {
+				_update_rate_hz = update_rate_hz;
+
+				// check if sample rate error is greater than 1%
+				if ((fabsf(_update_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
+					++_sample_rate_incorrect_count;
+				}
+			}
+		}
+
+		const bool sample_rate_updated = (_sample_rate_incorrect_count > 50);
+		const bool lowpass_updated = (fabsf(_lowpass_filter.get_cutoff_freq() - _param_imu_gyro_cutoff.get()) > 0.01f);
+		const bool notch_updated = ((fabsf(_notch_filter.getNotchFreq() - _param_imu_gyro_nf_freq.get()) > 0.01f)
+					    || (fabsf(_notch_filter.getBandwidth() - _param_imu_gyro_nf_bw.get()) > 0.01f));
+
+		if (sample_rate_updated || lowpass_updated || notch_updated) {
+			PX4_INFO("updating filter, sample rate: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate, (double)_update_rate_hz);
+			_filter_sample_rate = _update_rate_hz;
+
+			// update software low pass filters
+			_lowpass_filter.set_cutoff_frequency(_filter_sample_rate, _param_imu_gyro_cutoff.get());
+			_lowpass_filter.reset(rates);
+
+			_notch_filter.setParameters(_filter_sample_rate, _param_imu_gyro_nf_freq.get(), _param_imu_gyro_nf_bw.get());
+			_notch_filter.reset(rates);
+
+			// reset state
+			_sample_rate_incorrect_count = 0;
+		}
+	}
+}
+
 void VehicleAngularVelocity::SensorBiasUpdate(bool force)
 {
 	if (_estimator_sensor_bias_sub.updated() || force) {
@@ -165,6 +213,9 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
 						// force corrections reselection
 						_corrections_selected_instance = -1;
 
+						// reset sample rate monitor
+						_sample_rate_incorrect_count = 0;
+
 						return true;
 					}
 				}
@@ -205,15 +256,23 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 void VehicleAngularVelocity::Run()
 {
 	// update corrections first to set _selected_sensor
-	bool sensor_select_update = SensorSelectionUpdate();
-	SensorCorrectionsUpdate(sensor_select_update);
-	SensorBiasUpdate(sensor_select_update);
+	bool selection_updated = SensorSelectionUpdate();
+
+	SensorCorrectionsUpdate(selection_updated);
+	SensorBiasUpdate(selection_updated);
 	ParametersUpdate();
 
-	if (_sensor_sub[_selected_sensor_sub_index].updated() || sensor_select_update) {
+	bool sensor_updated = _sensor_sub[_selected_sensor_sub_index].updated();
+
+	if (sensor_updated || selection_updated) {
 		sensor_gyro_s sensor_data;
 
 		if (_sensor_sub[_selected_sensor_sub_index].copy(&sensor_data)) {
+
+			if (sensor_updated) {
+				perf_count_interval(_interval_perf, sensor_data.timestamp_sample);
+			}
+
 			// get the sensor data and correct for thermal errors (apply offsets and scale)
 			const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};
 
@@ -226,14 +285,32 @@ void VehicleAngularVelocity::Run()
 			// correct for in-run bias errors
 			rates -= _bias;
 
-			// publish
-			vehicle_angular_velocity_s out;
+			// Filter: apply notch and then low-pass
+			CheckFilters(rates);
+			const Vector3f rates_filtered = _lowpass_filter.apply(_notch_filter.apply(rates));
+
+
+			bool publish = true;
+
+			if (_param_imu_gyro_rate_max.get() > 0) {
+				const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get();
 
-			out.timestamp_sample = sensor_data.timestamp_sample;
-			rates.copyTo(out.xyz);
-			out.timestamp = hrt_absolute_time();
+				if (hrt_elapsed_time(&_last_publish) < interval) {
+					publish = false;
+				}
+			}
+
+			if (publish) {
+				vehicle_angular_velocity_s out;
+
+				out.timestamp_sample = sensor_data.timestamp_sample;
+				rates_filtered.copyTo(out.xyz);
+				out.timestamp = hrt_absolute_time();
+
+				_vehicle_angular_velocity_pub.publish(out);
 
-			_vehicle_angular_velocity_pub.publish(out);
+				_last_publish = out.timestamp_sample;
+			}
 		}
 	}
 }
@@ -244,4 +321,12 @@ void VehicleAngularVelocity::PrintStatus()
 	PX4_INFO("bias: [%.3f %.3f %.3f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
 	PX4_INFO("offset: [%.3f %.3f %.3f]", (double)_offset(0), (double)_offset(1), (double)_offset(2));
 	PX4_INFO("scale: [%.3f %.3f %.3f]", (double)_scale(0), (double)_scale(1), (double)_scale(2));
+
+	PX4_INFO("sample rate: %.3f Hz", (double)_update_rate_hz);
+	PX4_INFO("low-pass filter cutoff: %.3f Hz", (double)_lowpass_filter.get_cutoff_freq());
+
+	if (_notch_filter.getNotchFreq() > 0.0f) {
+		PX4_INFO("notch filter freq: %.3f Hz\tbandwidth: %.3f Hz", (double)_notch_filter.getNotchFreq(),
+			 (double)_notch_filter.getBandwidth());
+	}
 }

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -36,6 +36,9 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2pArray.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
+#include <lib/mathlib/math/filter/NotchFilter.hpp>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
@@ -65,6 +68,7 @@ public:
 private:
 	void Run() override;
 
+	void CheckFilters(const matrix::Vector3f &rates);
 	void ParametersUpdate(bool force = false);
 	void SensorBiasUpdate(bool force = false);
 	void SensorCorrectionsUpdate(bool force = false);
@@ -73,6 +77,11 @@ private:
 	static constexpr int MAX_SENSOR_COUNT = 3;
 
 	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
+		(ParamFloat<px4::params::IMU_GYRO_NF_FREQ>) _param_imu_gyro_nf_freq,
+		(ParamFloat<px4::params::IMU_GYRO_NF_BW>) _param_imu_gyro_nf_bw,
+		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max,
+
 		(ParamInt<px4::params::SENS_BOARD_ROT>) _param_sens_board_rot,
 
 		(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _param_sens_board_x_off,
@@ -93,12 +102,23 @@ private:
 		{this, ORB_ID(sensor_gyro), 2}
 	};
 
+	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
+
 	matrix::Dcmf _board_rotation;
 
 	matrix::Vector3f _bias{0.f, 0.f, 0.f};
 	matrix::Vector3f _offset{0.f, 0.f, 0.f};
 	matrix::Vector3f _scale{1.f, 1.f, 1.f};
 
+	hrt_abstime _last_publish{0};
+	hrt_abstime _filter_check_last{0};
+	static constexpr const float kInitialRateHz{1000.0f}; /**< sensor update rate used for initialization */
+	float _update_rate_hz{kInitialRateHz}; /**< current rate-controller loop update rate in [Hz] */
+	math::LowPassFilter2pVector3f _lowpass_filter{kInitialRateHz, 30};
+	math::NotchFilter<matrix::Vector3f> _notch_filter{};
+	float _filter_sample_rate{kInitialRateHz};
+	int _sample_rate_incorrect_count{0};
+
 	uint32_t _selected_sensor_device_id{0};
 	uint8_t _selected_sensor_sub_index{0};
 	int8_t _corrections_selected_instance{-1};

src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* Driver level notch frequency for gyro
+*
+* The center frequency for the 2nd order notch filter on the gyro driver.
+* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
+* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
+* See "IMU_GYRO_NF_BW" to set the bandwidth of the filter.
+*
+* @min 0
+* @max 1000
+* @unit Hz
+* @reboot_required true
+* @group Sensors
+*/
+PARAM_DEFINE_FLOAT(IMU_GYRO_NF_FREQ, 0.0f);
+
+/**
+* Driver level notch bandwidth for gyro
+*
+* The frequency width of the stop band for the 2nd order notch filter on the gyro driver.
+* See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency.
+*
+* @min 0
+* @max 100
+* @unit Hz
+* @reboot_required true
+* @group Sensors
+*/
+PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
+
+/**
+* Driver level cutoff frequency for gyro
+*
+* 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.
+*
+* @min 0
+* @max 1000
+* @unit Hz
+* @reboot_required true
+* @group Sensors
+*/
+PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
+
+/**
+* Gyro control data maximum publication rate
+*
+* This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at.
+* Set to 0 to disable and publish at the native sensor sample rate.
+*
+* @min 0
+* @max 2000
+* @value 0 0 (no limit)
+* @value 50 50 Hz
+* @value 250 250 Hz
+* @value 400 400 Hz
+* @value 1000 1000 Hz
+* @value 2000 2000 Hz
+* @unit Hz
+* @reboot_required true
+* @group Sensors
+*/
+PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);

src/modules/simulator/simulator.h

@@ -104,7 +104,6 @@ private:
 	Simulator() : ModuleParams(nullptr)
 	{
 		_px4_accel.set_sample_rate(250);
-		_px4_gyro.set_sample_rate(250);
 	}
 
 	~Simulator()