- update to NuttX with stm32f4 and stm32f7 SPI DMA internal buffers
- remove explicit DMA buffer allocations from new IMU drivers
- restore original BOARD_DMA_ALLOC_POOL_SIZE
- decrease SPI DMA thresholds based on fmu-v2/v3/v4/v5 bench testing
This is another new InvenSense sensor with max output data rate of 32 kHz (both accel & gyro), on board anti-aliasing filter, and accel range 32G. Overall quite similar to the ICM-42688-P added in #14420, but with doubled accel range and without the optional high resolution output or clock sync.
Removes the calibration on startup, as these values were overwritten by
the system calibration values anyway.
So the only difference is that if all calibration scales were equal to 1,
the driver startup would have failed.
* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com>
This avoids the need for recalibration, and also cleans up other driver
ID's (merge separate accel/gyro).
The SPI address was previously set to a board-specific (arbitrary) value,
and is now set to 0. This will allow extending for multiple sensors of the
same type on the same bus.
Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.
The configuration in board_config.h can be removed after all drivers are
updated.
* 8 kHz gyro, 4 kHz accel
* DLPF disabled
* scheduled using data ready interrupts
* FIFO is emptied at 1 kHz by default, but can adjusted via IMU_GYRO_RATEMAX from 250 Hz - 2000 kHz.
* On both px4_fmu-v4 and px4_fmu-v4pro the secondary IMU is an mpu9250 with the same driver
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- increased sensor_gyro_fifo max size (enables running the driver much slower, but still transferring all raw data)
- PX4Accelerometer/PX4Gyroscope remove unnecessary memsets
Beat Küng
Daniel Agar
SalimTerryLi
Paul Riseborough
David Sidrane