- interupt pin set active low and latch
- relax retry timeout if configure failed
- improve configured empty rate (sample rate) rounding
- fix RegisterCheck
- check FIFO count as part of full transfer and reset or adjust timing if necessary
- rename DRV_IMU_DEVTYPE_ICM20608 -> DRV_IMU_DEVTYPE_ICM20608G
- update to NuttX with stm32f4 and stm32f7 SPI DMA internal buffers
- remove explicit DMA buffer allocations from new IMU drivers
- restore original BOARD_DMA_ALLOC_POOL_SIZE
- decrease SPI DMA thresholds based on fmu-v2/v3/v4/v5 bench testing
This is another new InvenSense sensor with max output data rate of 32 kHz (both accel & gyro), on board anti-aliasing filter, and accel range 32G. Overall quite similar to the ICM-42688-P added in #14420, but with doubled accel range and without the optional high resolution output or clock sync.
Removes the calibration on startup, as these values were overwritten by
the system calibration values anyway.
So the only difference is that if all calibration scales were equal to 1,
the driver startup would have failed.
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com>
Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.
The configuration in board_config.h can be removed after all drivers are
updated.
* 8 kHz gyro, 4 kHz accel
* DLPF disabled
* scheduled using data ready interrupts
* FIFO is emptied at 1 kHz by default, but can adjusted via IMU_GYRO_RATEMAX from 250 Hz - 2000 kHz.
* On both px4_fmu-v4 and px4_fmu-v4pro the secondary IMU is an mpu9250 with the same driver
- 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)
- 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
- reduces amount of board configuration required
- removes the cyclic dependency between io_timers_t and timer_io_channels_t
Fixes a bug in the fmuk66-v3 config: the 2. timer has 3 channels associated
not 2.
Fixes a bug in the modelai config: the 2. timer has 4 channels associated.
* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
- new sensor messages for better visibility
- sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
- sensor_{accel, gyro}_status: metadata, clipping, etc
- currently not enabled by default
Daniel Agar