It cause bad transfers on a Kopis 2, though not on a bench KakuteF7 unit.
Not sure if this is a single case.
nsh> icm20689 status
INFO [SPI_I2C] Running on SPI Bus 4
INFO [icm20689] FIFO empty interval: 1000 us (1000.000 Hz)
icm20689: transfer: 46375 events, 6790549us elapsed, 146.43us avg, min 54us max 1709us 81.564us rms
icm20689: bad register: 0 events
icm20689: bad transfer: 4284 events
icm20689: FIFO empty: 0 events
icm20689: FIFO overflow: 1 events
icm20689: FIFO reset: 2 events
icm20689: DRDY interval: 375585 events, 124.93us avg, min 99us max 250us 2.322us rms
INFO [drivers_accelerometer] /dev/accel device instance: 0
INFO [drivers_accelerometer] calibration scale: 1.02174 0.99918 0.98338
INFO [drivers_accelerometer] calibration offset: 0.76124 -0.00725 -0.16437
INFO [drivers_gyroscope] /dev/gyro device instance: 0
INFO [drivers_gyroscope] calibration offset: -0.08153 0.02432 0.00050
- skip avionics rail voltage check when USB connected
- skip forced reboot on USB disconnect if circuit breaker set
- avionics voltage preflight check don't silently fail if system_power unavailble
- explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
- always check with state machine before reboot/shutdown
- respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
- px4_shutdown_request add optional delay and always execute from HPWORK
- px4_shutdown_request split out px4_reboot_request
- increase stack sizes to run cleanly under stackcheck
- this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
- remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)
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>
Daniel Agar