- change default FIFO empty rate to 1 kHz (consistent with other drivers)
- relax retry timeout if configure failed
- improve configured empty rate (sample rate) rounding
- check interupt status and FIFO count as part of full transfer and reset or adjust timing if necessary
- change default FIFO empty rate to 1 kHz (consistent with other drivers)
- relax retry timeout if configure failed
- improve configured empty rate (sample rate) rounding
- check interupt status and FIFO count as part of full transfer and reset or adjust timing if necessary
- 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
- 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
During the first few seconds after takeoff, the failure detector is allowed to
trigger motor lockdown.
This is done for safety reasons to detect tipping-over or unstable
tuning gains
- 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
Supposedly multiple sensor callbacks were supported; in reality, this
was not the case, as the mag SensorBridge in particular can only
calibrate one compass, leading to a race condition on which compass
appears first on the bus to get published and calibrated (with no
warning to the user that the 'wrong' compass is being used).
For sensors with existing generic driver classes (baro and mag) the
sensor bridges use these classes for the driver registration, and uORB
publication, and calibration interface (ioctl) handling.
UavcanGnssBridge did not support more than 1 GNSS callback/publisher.
This has now been fixed; it works the same as the baro, mag, and flow
sensor bridges. The EKF2 still doesn't support more than 2 GPS
publishers, however.
10kHz sampling seems excessive, given that the sensor is expected to output
at 100Hz.
Also don't reschedule immediately in case we have not received any data.
Daniel Agar