- update copyright year
- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
- only track consecutive errors (not total) to trigger full reset if necessary
- remove interrupt perf counter and instead only count misses
- minor style changes to stay in sync with the other Invensense drivers
- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
- track consecutive errors and trigger full reset if necessary
- remove interrupt perf counter and instead only count misses
- minor style changes to stay in sync with the other Invensense drivers
- read FIFO count along with full transfer as a sanity check
- the latch would actually cause more problems if the backup schedule hit
- this reduces the number of cycles where the FIFO is actually empty at max rate (when there's only 1 sample in the FIFO expected)
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
- accel & gyro FIFOs enabled
- FIFO watermark on data ready interrupt
- sensor side filtering completely disabled
- gyro now respects `IMU_GYRO_RATEMAX` (up to 2 kHz)
- saves a few % cpu (at default rate)
- at start perform full sensor signal path reset and wait for max time
- issue full sensor reset on any error
- only allocate DRDY perf counter if GPIO is available
- allow running faster than accel ODR (safe limit of 2 kHz in place)
- perform full sensor signal path reset and wait for max time (100 ms)
- issue full sensor reset on any error
- always read FIFO count before transfersj
- only allocate drdy perf counter if GPIO is available
- perform full sensor signal path reset and wait for max time (100 ms)
- issue full sensor reset on any error
- always read FIFO count before transfersj
- only allocate drdy perf counter if GPIO is available
- 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)
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
- the ecl/EKF filter update period has changed from 8 ms to 10 ms
- change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
The InvenSense icm20608g and icm20689 don't have a FIFO watermark interrupt, but they do have a data ready interrupt and the ability to get the current FIFO count in the same large transfer as the actual FIFO data. So instead of manually checking the FIFO count before every transfer (costs ~ 1-3% cpu) we trust the data ready counts, verify things are in sync after the large transfer (fifo count + fifo contents), and force a manual check before the next transfer if necessary.
As a precaution this change lowers the threshold for forcing a manual FIFO count check before the large transfer. Forcing the check if out of sync by 2 (or more) samples makes sense because we always do transfers in multiples of 2 (gyro samples per accel).
The other small cosmetic changes are keeping the icm20608g and icm20689 in sync (they're nearly identical).
Daniel Agar