fly316/PX4-Autopilot
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move IMU integration out of drivers to sensors hub to handle accel/gyro sync

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- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
This commit is contained in:
Daniel Agar
2020-05-30 11:07:54 -04:00
committed by GitHub
parent 86cd1d0802
commit e34bdb4be9
74 changed files with 785 additions and 1197 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/invensense/icm20602/ICM20602.cpp
-3
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@@ -316,9 +316,6 @@ void ICM20602::ConfigureSampleRate(int sample_rate)
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
ConfigureFIFOWatermark(_fifo_gyro_samples);
}
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
-3
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@@ -328,9 +328,6 @@ void ICM20608G::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
bool ICM20608G::Configure()
src/drivers/imu/invensense/icm20649/ICM20649.cpp
-3
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@@ -330,9 +330,6 @@ void ICM20649::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = roundf(math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES));
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
void ICM20649::SelectRegisterBank(enum REG_BANK_SEL_BIT bank)
src/drivers/imu/invensense/icm20689/ICM20689.cpp
-3
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@@ -328,9 +328,6 @@ void ICM20689::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
bool ICM20689::Configure()
src/drivers/imu/invensense/icm20948/ICM20948.cpp
-3
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@@ -364,9 +364,6 @@ void ICM20948::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = roundf(math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES));
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
void ICM20948::SelectRegisterBank(enum REG_BANK_SEL_BIT bank)
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
-3
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@@ -322,9 +322,6 @@ void ICM40609D::ConfigureSampleRate(int sample_rate)
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
ConfigureFIFOWatermark(_fifo_gyro_samples);
}
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
-3
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@@ -324,9 +324,6 @@ void ICM42688P::ConfigureSampleRate(int sample_rate)
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
ConfigureFIFOWatermark(_fifo_gyro_samples);
}
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
-3
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@@ -323,9 +323,6 @@ void MPU6000::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
bool MPU6000::Configure()
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
-3
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@@ -323,9 +323,6 @@ void MPU6500::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
bool MPU6500::Configure()
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
-3
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@@ -356,9 +356,6 @@ void MPU9250::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
bool MPU9250::Configure()