- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
- remove interrupt perf counter and instead only count misses
- minor style changes to stay in sync with the other Invensense drivers
- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
- only track consecutive errors (not total) to trigger full reset if necessary
- remove interrupt perf counter and instead only count misses
- minor style changes to stay in sync with the other Invensense drivers
- update copyright year
- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
- only track consecutive errors (not total) to trigger full reset if necessary
- remove interrupt perf counter and instead only count misses
- minor style changes to stay in sync with the other Invensense drivers
- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
- track consecutive errors and trigger full reset if necessary
- remove interrupt perf counter and instead only count misses
- minor style changes to stay in sync with the other Invensense drivers
- read FIFO count along with full transfer as a sanity check
- fix UART config (GPS1, etc)
- TELEM2 enable TX DMA
- init simplify (sync with CubeOrange)
- amber LED use for armed state
- manually start ak09916 (Here2) on I2C2 with proper rotation
It appear that QGC is now resyncing between operation.
This was causing the bl_state to be reset to STATE_PROTO_GET_SYNC
and loosing the state of (STATE_PROTO_GET_SYNC|STATE_PROTO_GET_DEVICE)
Because the velocity starts with a positive value (down) to ramp-up
slowly the motors, the position setpoint (integral) was going down into
the ground, canceling the input of the velocity controller during the
early takeoff phase.
Instead of a smooth ramp, the behavior was a delay followed by a quick
takeoff or a land detection.
Setting the current altitude setpoint with the current altitude during
this phase avoids the canceling effect and creates a takeoff purely
velocity-based.
Daniel Agar
David Sidrane
Beat Küng
Thies Lennart Alff
RomanBapst
SalimTerryLi
kritz
Claudio Micheli
Jahir Argote
Katrin Moritz
bresch
Daniel Leonard Robinson