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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/st/ism330dlc/ISM330DLC.cpp
-1
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@@ -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
-1
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@@ -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);