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invensense icm20602 improvements

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- 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
This commit is contained in:
Daniel Agar
2020-02-18 19:21:20 -05:00
parent 40921241e7
commit 22499effb9
12 changed files with 423 additions and 177 deletions
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msg/sensor_accel_status.msg
+1 -1
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@@ -10,7 +10,7 @@ uint8 rotation
uint32[3] clipping # clipping per axis
uint16 measure_rate
uint16 measure_rate_hz
float32 full_scale_range
msg/sensor_gyro_fifo.msg
+3 -3
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@@ -8,6 +8,6 @@ float32 scale
uint8 samples # number of valid samples
int16[16] x # angular velocity in the NED X board axis in rad/s
int16[16] y # angular velocity in the NED Y board axis in rad/s
int16[16] z # angular velocity in the NED Z board axis in rad/s
int16[32] x # angular velocity in the NED X board axis in rad/s
int16[32] y # angular velocity in the NED Y board axis in rad/s
int16[32] z # angular velocity in the NED Z board axis in rad/s
msg/sensor_gyro_status.msg
+1 -1
View File
@@ -10,7 +10,7 @@ uint8 rotation
uint32[3] clipping # clipping per axis
uint16 measure_rate
uint16 measure_rate_hz
float32 full_scale_range