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sensors: move gyro filtering to sensors/vehicle_angular_velocity

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- 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.
This commit is contained in:
Daniel Agar
2020-01-27 10:05:33 -05:00
committed by GitHub
parent 0d2e5f1c50
commit 24f0c2d72a
22 changed files with 355 additions and 258 deletions
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src/drivers/imu/invensense/icm20602/ICM20602.cpp
-1
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@@ -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
-1
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@@ -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);