I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc.
Later this mechanism will be used in a few areas
- rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
- move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
- integrate raw gyro synchronized with optical flow measurements
- 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 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)
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
- this provides some extra space when the FIFO transfers don't align perfectly
- I've also made an effort to keep the different drivers (icm20602, icm20608g, ism330ldc) in sync so we can factor out the common portions later once we've confident in the pattern.
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
- fixed df_ltc2946_wrapper battery dependency
- fixed px4::atomic fetch_add for QuRT
- updated PX4 QuRT SPI wrapper to set bus frequency
- renamed "qurt-default" configs to just "qurt"
* NotchFilter: add NotchFilter template and test for float type
* NotchFilterTest: add test for Vector3f notch filter
* PX4Gyroscope: add notch filter with IMU_GYRO_NF_(FREQ|BW) parameters to
set the notch center frequency and bandwidth
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
- update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
- update posix (really just linux) and qurt I2C wrappers
- tested on beaglebone blue
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
- move most orb to uORB::Publication and uORB::Subscription
- update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
- add perf counters
- sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
- sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
- sensors delete obsolete ioctl and read methods
- use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
- add GNSS parameter metadata (parameters_injected.xml)
Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
Daniel Agar