github actions add timeout-minutes

- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa
- The time literal 1_s is defined in the namespace time_literals

.github/workflows/checks.yml

@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    timeout-minutes: 60
     strategy:
       fail-fast: false
       matrix:

.github/workflows/clang-tidy.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-clang:2021-05-04
+    timeout-minutes: 60
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-armhf:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-aarch64:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_macos.yml

@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: macos-10.15
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx_cannode.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/sitl_tests.yml

@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    timeout-minutes: 60
     strategy:
       fail-fast: false
       matrix:

.gitmodules

@@ -63,3 +63,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/Auterion/px4-simulation-ignition.git

Tools/setup_ignition.bash

@@ -0,0 +1,23 @@
+#!/bin/bash
+#
+# Setup environment to make PX4 visible to Gazebo.
+#
+# Note, this is not necessary if using a ROS catkin workspace with the px4
+# package as the paths are exported.
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+if [ "$#" != 2 ]; then
+    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
+    return 1
+fi
+
+SRC_DIR=$1
+BUILD_DIR=$2
+
+# setup Gazebo env and update package path
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
+export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
+
+echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"

Tools/sitl_run.sh

@@ -177,6 +177,10 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
+	echo "Ignition Gazebo"
+	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
+	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"

boards/cuav/nora/src/board_config.h

@@ -105,6 +105,7 @@
 
 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14

boards/cuav/x7pro/src/board_config.h

@@ -105,6 +105,7 @@
 
 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -117,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
 
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */
 
 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)

boards/holybro/durandal-v1/src/board_config.h

@@ -174,6 +174,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/holybro/pix32v5/src/board_config.h

@@ -209,6 +209,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig

@@ -80,6 +80,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig

@@ -81,6 +81,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-e/src/init.c

@@ -64,8 +64,7 @@
 
 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <hardware/kinetis_uart.h>
-#include <hardware/kinetis_sim.h>
+#include <kinetis_lpuart.h>
 #include "board_config.h"
 
 #include "arm_arch.h"
@@ -189,6 +188,26 @@ kinetis_boardinitialize(void)
 
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
+/****************************************************************************
+ * Name: kinetis_serial_dma_poll_all
+ *
+ * Description:
+ *   Checks receive DMA buffers for received bytes that have not accumulated
+ *   to the point where the DMA half/full interrupt has triggered.
+ *
+ *   This function should be called from a timer or other periodic context.
+ *
+ ****************************************************************************/
+
+void kinetis_lpserial_dma_poll_all(void)
+{
+#if defined(LPSERIAL_HAVE_DMA)
+	kinetis_lpserial_dma_poll();
+#endif
+#if defined(SERIAL_HAVE_DMA)
+	kinetis_serial_dma_poll();
+#endif
+}
 
 /****************************************************************************
  * Name: board_app_initialize
@@ -235,6 +254,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
+	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_lpserial_dma_poll_all,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -81,6 +81,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig

@@ -82,6 +82,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-v3/src/init.c

@@ -64,8 +64,7 @@
 
 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <hardware/kinetis_uart.h>
-#include <hardware/kinetis_sim.h>
+#include <kinetis_lpuart.h>
 #include "board_config.h"
 
 #include "arm_arch.h"
@@ -189,6 +188,26 @@ kinetis_boardinitialize(void)
 
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
+/****************************************************************************
+ * Name: kinetis_serial_dma_poll_all
+ *
+ * Description:
+ *   Checks receive DMA buffers for received bytes that have not accumulated
+ *   to the point where the DMA half/full interrupt has triggered.
+ *
+ *   This function should be called from a timer or other periodic context.
+ *
+ ****************************************************************************/
+
+void kinetis_lpserial_dma_poll_all(void)
+{
+#if defined(LPSERIAL_HAVE_DMA)
+	kinetis_lpserial_dma_poll();
+#endif
+#if defined(SERIAL_HAVE_DMA)
+	kinetis_serial_dma_poll();
+#endif
+}
 
 /****************************************************************************
  * Name: board_app_initialize
@@ -235,6 +254,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
+	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_lpserial_dma_poll_all,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);

boards/nxp/fmurt1062-v1/src/board_config.h

@@ -215,6 +215,7 @@
  */
 #define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
 #define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
+#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v4/src/board_config.h

@@ -147,6 +147,7 @@
 /* Heater pins */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* Power switch controls */
 

boards/px4/fmu-v5/optimized.cmake

@@ -42,13 +42,13 @@ px4_add_board(
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
 		magnetometer/isentek/ist8310
-		optical_flow # all available optical flow drivers
+		#optical_flow # all available optical flow drivers
 		#osd
 		#pca9685
 		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
-		pwm_input
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io

boards/px4/fmu-v5/src/board_config.h

@@ -209,6 +209,8 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+
 
 /* PWM Capture
  *

boards/px4/fmu-v5x/src/board_config.h

@@ -202,6 +202,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v6u/src/board_config.h

@@ -189,6 +189,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA2  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define HEATER_OUTPUT_EN(on_true)	      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v6x/src/board_config.h

@@ -227,6 +227,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/uvify/core/src/board_config.h

@@ -145,6 +145,7 @@
 /* Heater pins (reserved) */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* Power switch controls */
 

msg/CMakeLists.txt

@@ -44,6 +44,7 @@ set(msg_files
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
+	baro_bias_estimate.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg

msg/baro_bias_estimate.msg

@@ -0,0 +1,10 @@
+uint64 timestamp                # time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+uint32 baro_device_id		# unique device ID for the sensor that does not change between power cycles
+float32 bias			# estimated barometric altitude bias (m)
+float32 bias_var		# estimated barometric altitude bias variance (m^2)
+
+float32 innov			# innovation of the last measurement fusion (m)
+float32 innov_var		# innovation variance of the last measurement fusion (m^2)
+float32 innov_test_ratio	# normalized innovation squared test ratio

msg/templates/urtps/microRTPS_transport.cpp

@@ -331,16 +331,16 @@ int UART_node::init()
 	}
 
 	// Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity.
-	uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
+	uart_config.c_iflag &= ~(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
 	uart_config.c_iflag |= IGNBRK | IGNPAR;
 
-	uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
+	uart_config.c_oflag &= ~(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
 	uart_config.c_oflag |= NL0 | VT0;
 
-	uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
+	uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB);
 	uart_config.c_cflag |= CS8 | CREAD | CLOCAL;
 
-	uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
+	uart_config.c_lflag &= ~(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
 
 	// Flow control
 	if (hw_flow_control) {

msg/tools/uorb_rtps_message_ids.yaml

@@ -343,6 +343,8 @@ rtps:
     id: 159
   - msg: event
     id: 160
+  - msg: baro_bias_estimate
+    id: 161
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 180

platforms/posix/cmake/sitl_target.cmake

@@ -48,6 +48,20 @@ ExternalProject_Add(sitl_gazebo
 	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
 )
 
+px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
+ExternalProject_Add(simulation-ignition
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition
+	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo
+	INSTALL_COMMAND ""
+	DEPENDS git_ign_gazebo
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
+)
+
 ExternalProject_Add(mavsdk_tests
 	SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
 	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
@@ -90,6 +104,7 @@ set(viewers
 	none
 	jmavsim
 	gazebo
+	ignition
 )
 
 set(debuggers
@@ -179,6 +194,8 @@ foreach(viewer ${viewers})
 						add_dependencies(${_targ_name} px4 sitl_gazebo)
 					elseif(viewer STREQUAL "jmavsim")
 						add_dependencies(${_targ_name} px4 git_jmavsim)
+					elseif(viewer STREQUAL "ignition")
+						add_dependencies(${_targ_name} px4 simulation-ignition)
 					endif()
 				else()
 					if(viewer STREQUAL "gazebo")

src/drivers/camera_trigger/camera_trigger_params.c

@@ -159,7 +159,7 @@ PARAM_DEFINE_INT32(TRIG_PINS, 56);
  *
  *
  * @min 0
- * @max 4294967040
+ * @max 2147483647
  * @decimal 0
  * @reboot_required true
  * @group Camera trigger

src/drivers/heater/heater.cpp

@@ -136,7 +136,7 @@ void Heater::heater_off()
 #endif
 
 #ifdef HEATER_GPIO
-	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
+	HEATER_OUTPUT_EN(false);
 #endif
 }
 
@@ -151,7 +151,7 @@ void Heater::heater_on()
 #endif
 
 #ifdef HEATER_GPIO
-	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
+	HEATER_OUTPUT_EN(true);
 #endif
 }
 

src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp

@@ -104,6 +104,9 @@ ADIS16448::ADIS16448(const I2CSPIDriverConfig &config) :
 	_px4_gyro(get_device_id(), config.rotation),
 	_px4_mag(get_device_id(), config.rotation)
 {
+	if (_drdy_gpio != 0) {
+		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
+	}
 }
 
 ADIS16448::~ADIS16448()
@@ -112,6 +115,7 @@ ADIS16448::~ADIS16448()
 	perf_free(_bad_register_perf);
 	perf_free(_bad_transfer_perf);
 	perf_free(_perf_crc_bad);
+	perf_free(_drdy_missed_perf);
 }
 
 int ADIS16448::init()
@@ -149,6 +153,7 @@ void ADIS16448::print_status()
 	perf_print_counter(_bad_register_perf);
 	perf_print_counter(_bad_transfer_perf);
 	perf_print_counter(_perf_crc_bad);
+	perf_print_counter(_drdy_missed_perf);
 }
 
 int ADIS16448::probe()
@@ -326,7 +331,19 @@ void ADIS16448::RunImpl()
 		break;
 
 	case STATE::READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < SAMPLE_INTERVAL_US) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
+					perf_count(_drdy_missed_perf);
+				}
+
 				// push backup schedule back
 				ScheduleDelayed(SAMPLE_INTERVAL_US * 2);
 			}
@@ -414,8 +431,8 @@ void ADIS16448::RunImpl()
 					}
 
 					if (imu_updated) {
-						_px4_accel.update(now, accel_x, accel_y, accel_z);
-						_px4_gyro.update(now, gyro_x, gyro_y, gyro_z);
+						_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);
+						_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);
 					}
 
 					// DIAG_STAT bit 7: New data, xMAGN_OUT/BARO_OUT
@@ -426,13 +443,13 @@ void ADIS16448::RunImpl()
 						const int16_t mag_x = buffer.XMAGN_OUT;
 						const int16_t mag_y = (buffer.YMAGN_OUT == INT16_MIN) ? INT16_MAX : -buffer.YMAGN_OUT;
 						const int16_t mag_z = (buffer.ZMAGN_OUT == INT16_MIN) ? INT16_MAX : -buffer.ZMAGN_OUT;
-						_px4_mag.update(now, mag_x, mag_y, mag_z);
+						_px4_mag.update(timestamp_sample, mag_x, mag_y, mag_z);
 
 						_px4_baro.set_error_count(error_count);
 						_px4_baro.set_temperature(temperature);
 
 						float pressure_pa = buffer.BARO_OUT * 0.02f; // 20 μbar per LSB
-						_px4_baro.update(now, pressure_pa);
+						_px4_baro.update(timestamp_sample, pressure_pa);
 					}
 
 					success = true;

src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp

@@ -105,14 +105,16 @@ private:
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _perf_crc_bad{nullptr};
+	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_config_check_timestamp{0};
 	int _failure_count{0};
 
-	bool _check_crc{false}; // CRC-16 not supported on earlier models (eg ADIS16448AMLZ)
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
+	bool _check_crc{false}; // CRC-16 not supported on earlier models (eg ADIS16448AMLZ)
 	bool _self_test_passed{false};
 
 	int16_t _accel_prev[3] {};

src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp

@@ -47,12 +47,18 @@ ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
 	_px4_accel(get_device_id(), config.rotation),
 	_px4_gyro(get_device_id(), config.rotation)
 {
+	if (_drdy_gpio != 0) {
+		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
+	}
 }
 
 ADIS16470::~ADIS16470()
 {
+	perf_free(_reset_perf);
 	perf_free(_bad_register_perf);
 	perf_free(_bad_transfer_perf);
+	perf_free(_perf_crc_bad);
+	perf_free(_drdy_missed_perf);
 }
 
 int ADIS16470::init()
@@ -87,9 +93,10 @@ void ADIS16470::print_status()
 	I2CSPIDriverBase::print_status();
 
 	perf_print_counter(_reset_perf);
-	perf_print_counter(_perf_crc_bad);
 	perf_print_counter(_bad_register_perf);
 	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_perf_crc_bad);
+	perf_print_counter(_drdy_missed_perf);
 }
 
 int ADIS16470::probe()
@@ -208,7 +215,19 @@ void ADIS16470::RunImpl()
 		break;
 
 	case STATE::READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < SAMPLE_INTERVAL_US) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
+					perf_count(_drdy_missed_perf);
+				}
+
 				// push backup schedule back
 				ScheduleDelayed(SAMPLE_INTERVAL_US * 2);
 			}
@@ -233,7 +252,6 @@ void ADIS16470::RunImpl()
 			static_assert(sizeof(BurstRead) == (176 / 8), "ADIS16470 report not 176 bits");
 
 			buffer.cmd = static_cast<uint16_t>(Register::GLOB_CMD) << 8;
-
 			set_frequency(SPI_SPEED_BURST);
 
 			if (transferhword((uint16_t *)&buffer, (uint16_t *)&buffer, sizeof(buffer) / sizeof(uint16_t)) == PX4_OK) {
@@ -291,7 +309,7 @@ void ADIS16470::RunImpl()
 				accel_y = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
 				accel_z = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
 
-				_px4_accel.update(now, accel_x, accel_y, accel_z);
+				_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);
 
 
 				int16_t gyro_x = buffer.X_GYRO_OUT;
@@ -301,7 +319,7 @@ void ADIS16470::RunImpl()
 				//  flip y & z to publish right handed with z down (x forward, y right, z down)
 				gyro_y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
 				gyro_z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-				_px4_gyro.update(now, gyro_x, gyro_y, gyro_z);
+				_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);
 
 				success = true;
 
@@ -376,6 +394,7 @@ int ADIS16470::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ADIS16470::DataReady()
 {
+	_drdy_timestamp_sample.store(hrt_absolute_time());
 	ScheduleNow();
 }
 

src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp

@@ -1,35 +1,35 @@
 /****************************************************************************
-*
-*   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in
-*    the documentation and/or other materials provided with the
-*    distribution.
-* 3. Neither the name PX4 nor the names of its contributors may be
-*    used to endorse or promote products derived from this software
-*    without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-****************************************************************************/
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
 
 /**
  * @file ADIS16470.hpp
@@ -98,15 +98,18 @@ private:
 	PX4Gyroscope _px4_gyro;
 
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
-	perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
+	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_config_check_timestamp{0};
 	int _failure_count{0};
 
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
+
 	bool _self_test_passed{false};
 
 	enum class STATE : uint8_t {

src/drivers/imu/bosch/bmi055/BMI055.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -66,7 +66,7 @@ protected:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -74,9 +74,7 @@ protected:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
 

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -162,9 +162,16 @@ void BMI055_Accelerometer::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = 0;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -192,7 +199,20 @@ void BMI055_Accelerometer::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else if (fifo_frame_counter >= 1) {
-					if (FIFORead(now, fifo_frame_counter)) {
+
+					uint8_t samples = fifo_frame_counter;
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_samples + 1) {
+						// sample timestamp set from data ready already corresponds to _fifo_samples
+						if (timestamp_sample == 0) {
+							timestamp_sample = now - FIFO_SAMPLE_DT;
+						}
+
+						samples--;
+					}
+
+					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -242,22 +262,22 @@ void BMI055_Accelerometer::ConfigureAccel()
 	const uint8_t PMU_RANGE = RegisterRead(Register::PMU_RANGE) & (Bit3 | Bit2 | Bit1 | Bit0);
 
 	switch (PMU_RANGE) {
-	case range_2g:
+	case range_2g_set:
 		_px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f); // 1024 LSB/g, 0.98mg/LSB
 		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
 		break;
 
-	case range_4g:
+	case range_4g_set:
 		_px4_accel.set_scale(CONSTANTS_ONE_G / 512.f); // 512 LSB/g, 1.95mg/LSB
 		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
 		break;
 
-	case range_8g:
+	case range_8g_set:
 		_px4_accel.set_scale(CONSTANTS_ONE_G / 256.f); // 256 LSB/g, 3.91mg/LSB
 		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
 		break;
 
-	case range_16g:
+	case range_16g_set:
 		_px4_accel.set_scale(CONSTANTS_ONE_G / 128.f); // 128 LSB/g, 7.81mg/LSB
 		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
 		break;
@@ -318,11 +338,8 @@ int BMI055_Accelerometer::DataReadyInterruptCallback(int irq, void *context, voi
 
 void BMI055_Accelerometer::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool BMI055_Accelerometer::DataReadyInterruptConfigure()
@@ -437,7 +454,7 @@ void BMI055_Accelerometer::FIFOReset()
 	RegisterWrite(Register::FIFO_CONFIG_1, 0);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_CONFIG_0: restore FIFO watermark
 	// FIFO_CONFIG_1: re-enable FIFO

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -58,7 +58,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -112,7 +112,7 @@ private:
 	static constexpr uint8_t size_register_cfg{7};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register                    | Set bits, Clear bits
-		{ Register::PMU_RANGE,         PMU_RANGE_BIT::range_16g, Bit1 | Bit0},
+		{ Register::PMU_RANGE,         PMU_RANGE_BIT::range_16g_set, PMU_RANGE_BIT::range_16g_clear},
 		{ Register::ACCD_HBW,          ACCD_HBW_BIT::data_high_bw, 0},
 		{ Register::INT_EN_1,          INT_EN_1_BIT::int_fwm_en, 0},
 		{ Register::INT_MAP_1,         INT_MAP_1_BIT::int1_fwm, 0},

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -162,9 +162,16 @@ void BMI055_Gyroscope::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = 0;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -192,7 +199,20 @@ void BMI055_Gyroscope::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else if (fifo_frame_counter >= 1) {
-					if (FIFORead(now, fifo_frame_counter)) {
+
+					uint8_t samples = fifo_frame_counter;
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_samples + 1) {
+						// sample timestamp set from data ready already corresponds to _fifo_samples
+						if (timestamp_sample == 0) {
+							timestamp_sample = now - FIFO_SAMPLE_DT;
+						}
+
+						samples--;
+					}
+
+					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -316,11 +336,8 @@ int BMI055_Gyroscope::DataReadyInterruptCallback(int irq, void *context, void *a
 
 void BMI055_Gyroscope::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool BMI055_Gyroscope::DataReadyInterruptConfigure()
@@ -434,7 +451,7 @@ void BMI055_Gyroscope::FIFOReset()
 	RegisterWrite(Register::FIFO_CONFIG_1, 0);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_CONFIG_0: restore FIFO watermark
 	// FIFO_CONFIG_1: re-enable FIFO

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -58,7 +58,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {

src/drivers/imu/bosch/bmi055/Bosch_BMI055_Accelerometer_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -97,10 +97,17 @@ enum ACCD_HBW_BIT : uint8_t {
 // PMU_RANGE
 enum PMU_RANGE_BIT : uint8_t {
 	// range<3:0>
-	range_2g  = Bit1 | Bit0, //  ́0011b ́ -> ±2g range
-	range_4g  = Bit2 | Bit0, //  ́0101b ́ -> ±4g range
-	range_8g  = Bit3,        //  ́1000b ́ -> ±8g range
-	range_16g = Bit3 | Bit2, //  ́1100b ́ -> ±16g range
+	range_16g_set   = Bit3 | Bit2, //  ́1100b ́ -> ±16g range
+	range_16g_clear = Bit1 | Bit0,
+
+	range_8g_set    = Bit3,        //  ́1000b ́ -> ±8g range
+	range_8g_clear  = Bit2 | Bit1 | Bit0,
+
+	range_4g_set    = Bit2 | Bit0, //  ́0101b ́ -> ±4g range
+	range_4g_clear  = Bit3 | Bit1,
+
+	range_2g_set    = Bit1 | Bit0, //  ́0011b ́ -> ±2g range
+	range_2g_clear  = Bit3 | Bit2,
 };
 
 // INT_EN_1

src/drivers/imu/bosch/bmi088/BMI088.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/imu/bosch/bmi088/BMI088.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -66,7 +66,7 @@ protected:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -74,9 +74,7 @@ protected:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
 

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -184,15 +184,19 @@ void BMI088_Accelerometer::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			uint32_t samples = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
-					perf_count(_drdy_missed_perf);
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_samples;
 
 				} else {
-					samples = _fifo_samples;
+					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
@@ -214,6 +218,12 @@ void BMI088_Accelerometer::RunImpl()
 				} else {
 					samples = fifo_byte_counter / sizeof(FIFO::DATA);
 
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_samples + 1) {
+						timestamp_sample -= FIFO_SAMPLE_DT;
+						samples--;
+					}
+
 					if (samples > FIFO_MAX_SAMPLES) {
 						// not technically an overflow, but more samples than we expected or can publish
 						FIFOReset();
@@ -226,7 +236,7 @@ void BMI088_Accelerometer::RunImpl()
 			bool success = false;
 
 			if (samples >= 1) {
-				if (FIFORead(now, samples)) {
+				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
 					if (_failure_count > 0) {
@@ -360,11 +370,8 @@ int BMI088_Accelerometer::DataReadyInterruptCallback(int irq, void *context, voi
 
 void BMI088_Accelerometer::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool BMI088_Accelerometer::DataReadyInterruptConfigure()
@@ -561,7 +568,7 @@ void BMI088_Accelerometer::FIFOReset()
 	RegisterWrite(Register::ACC_SOFTRESET, 0xB0);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 }
 
 void BMI088_Accelerometer::UpdateTemperature()

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -58,7 +58,7 @@ private:
 	static constexpr uint32_t RATE{1600}; // 1600 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -163,9 +163,16 @@ void BMI088_Gyroscope::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = 0;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -193,7 +200,20 @@ void BMI088_Gyroscope::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else if (fifo_frame_counter >= 1) {
-					if (FIFORead(now, fifo_frame_counter)) {
+
+					uint8_t samples = fifo_frame_counter;
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_samples + 1) {
+						// sample timestamp set from data ready already corresponds to _fifo_samples
+						if (timestamp_sample == 0) {
+							timestamp_sample = now - FIFO_SAMPLE_DT;
+						}
+
+						samples--;
+					}
+
+					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -317,11 +337,8 @@ int BMI088_Gyroscope::DataReadyInterruptCallback(int irq, void *context, void *a
 
 void BMI088_Gyroscope::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool BMI088_Gyroscope::DataReadyInterruptConfigure()
@@ -435,7 +452,7 @@ void BMI088_Gyroscope::FIFOReset()
 	RegisterWrite(Register::FIFO_CONFIG_1, 0);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_CONFIG_0: restore FIFO watermark
 	// FIFO_CONFIG_1: re-enable FIFO

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -58,7 +58,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {

src/drivers/imu/bosch/bmi088/Bosch_BMI088_Accelerometer_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/imu/bosch/bmi088/Bosch_BMI088_Gyroscope_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -72,7 +72,7 @@ protected:
 	int _total_failure_count{0};
 
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -81,9 +81,7 @@ protected:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::SELFTEST};
+	} _state{STATE::SELFTEST};
 
 	uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
 

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -293,11 +293,7 @@ int BMI088_Accelerometer::DataReadyInterruptCallback(int irq, void *context, voi
 
 void BMI088_Accelerometer::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
-		ScheduleNow();
-	}
+	ScheduleNow();
 }
 
 bool BMI088_Accelerometer::DataReadyInterruptConfigure()
@@ -588,7 +584,7 @@ void BMI088_Accelerometer::FIFOReset()
 	RegisterWrite(Register::ACC_SOFTRESET, 0xB0);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 }
 
 void BMI088_Accelerometer::UpdateTemperature()

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -59,7 +59,7 @@ private:
 	static constexpr uint32_t RATE{1600}; // 1600 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -262,11 +262,8 @@ int BMI088_Gyroscope::DataReadyInterruptCallback(int irq, void *context, void *a
 
 void BMI088_Gyroscope::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool BMI088_Gyroscope::DataReadyInterruptConfigure()
@@ -382,7 +379,7 @@ void BMI088_Gyroscope::FIFOReset()
 	RegisterWrite(Register::FIFO_CONFIG_1, 0);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_CONFIG_0: restore FIFO watermark
 	// FIFO_CONFIG_1: re-enable FIFO

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -58,7 +58,7 @@ private:
 	static constexpr uint32_t RATE{400}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {

src/drivers/imu/bosch/bmi088/bmi088_main.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -237,15 +237,19 @@ void ICM20602::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			uint32_t samples = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
-					perf_count(_drdy_missed_perf);
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_gyro_samples;
 
 				} else {
-					samples = _fifo_gyro_samples;
+					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
@@ -265,7 +269,13 @@ void ICM20602::RunImpl()
 
 				} else {
 					// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-					samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
+					samples = fifo_count / sizeof(FIFO::DATA);
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_gyro_samples + 1) {
+						timestamp_sample -= FIFO_SAMPLE_DT;
+						samples--;
+					}
 
 					if (samples > FIFO_MAX_SAMPLES) {
 						// not technically an overflow, but more samples than we expected or can publish
@@ -279,7 +289,7 @@ void ICM20602::RunImpl()
 			bool success = false;
 
 			if (samples >= SAMPLES_PER_TRANSFER) {
-				if (FIFORead(now, samples)) {
+				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
 					if (_failure_count > 0) {
@@ -435,11 +445,8 @@ int ICM20602::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20602::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool ICM20602::DataReadyInterruptConfigure()
@@ -530,16 +537,14 @@ bool ICM20602::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 	}
 
 	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
 
-	if (fifo_count_bytes >= FIFO::SIZE) {
+	if ((fifo_count_bytes >= FIFO::SIZE) || (fifo_count_samples > FIFO_MAX_SAMPLES)) {
 		perf_count(_fifo_overflow_perf);
 		FIFOReset();
 		return false;
-	}
 
-	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
+	} else if (fifo_count_samples == 0) {
 		perf_count(_fifo_empty_perf);
 		return false;
 	}
@@ -571,7 +576,7 @@ void ICM20602::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/icm20602/ICM20602.hpp

@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -140,7 +140,7 @@ private:
 	hrt_abstime _last_config_check_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -151,7 +151,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{24};

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -228,9 +228,16 @@ void ICM20608G::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -251,16 +258,21 @@ void ICM20608G::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -402,13 +414,10 @@ int ICM20608G::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20608G::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -516,8 +525,8 @@ void ICM20608G::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/icm20608g/ICM20608G.hpp

@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -138,8 +138,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -150,7 +150,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{15};

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -194,9 +194,16 @@ void ICM20649::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -217,16 +224,21 @@ void ICM20649::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -395,13 +407,10 @@ int ICM20649::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20649::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -487,10 +496,11 @@ void ICM20649::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits
 
 uint16_t ICM20649::FIFOReadCount()
 {
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
 	// read FIFO count
 	uint8_t fifo_count_buf[3] {};
 	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
 	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
@@ -502,9 +512,10 @@ uint16_t ICM20649::FIFOReadCount()
 
 bool ICM20649::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
 	FIFOTransferBuffer buffer{};
 	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
@@ -549,8 +560,8 @@ void ICM20649::FIFOReset()
 	RegisterClearBits(Register::BANK_0::FIFO_RST, FIFO_RST_BIT::FIFO_RESET);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 }
 
 static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)

src/drivers/imu/invensense/icm20649/ICM20649.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 9000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 9000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -152,8 +152,8 @@ private:
 
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -161,12 +161,10 @@ private:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{6};

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -228,9 +228,16 @@ void ICM20689::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -251,16 +258,21 @@ void ICM20689::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -402,13 +414,10 @@ int ICM20689::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20689::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -516,8 +525,8 @@ void ICM20689::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/icm20689/ICM20689.hpp

@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -138,8 +138,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -150,7 +150,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{15};

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -230,9 +230,16 @@ void ICM20948::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -253,16 +260,21 @@ void ICM20948::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -442,13 +454,10 @@ int ICM20948::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20948::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -598,8 +607,8 @@ void ICM20948::FIFOReset()
 	RegisterClearBits(Register::BANK_0::FIFO_RST, FIFO_RST_BIT::FIFO_RESET);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 }
 
 static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)

src/drivers/imu/invensense/icm20948/ICM20948.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -73,12 +73,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 9000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 9000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -169,8 +169,8 @@ private:
 
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -181,7 +181,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{6};

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -189,15 +189,19 @@ void ICM40609D::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			uint32_t samples = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
-					perf_count(_drdy_missed_perf);
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_gyro_samples;
 
 				} else {
-					samples = _fifo_gyro_samples;
+					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
@@ -219,6 +223,12 @@ void ICM40609D::RunImpl()
 					// FIFO count (size in bytes)
 					samples = (fifo_count / sizeof(FIFO::DATA));
 
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_gyro_samples + 1) {
+						timestamp_sample -= FIFO_SAMPLE_DT;
+						samples--;
+					}
+
 					if (samples > FIFO_MAX_SAMPLES) {
 						// not technically an overflow, but more samples than we expected or can publish
 						FIFOReset();
@@ -231,7 +241,7 @@ void ICM40609D::RunImpl()
 			bool success = false;
 
 			if (samples >= 1) {
-				if (FIFORead(now, samples)) {
+				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
 					if (_failure_count > 0) {
@@ -409,11 +419,8 @@ int ICM40609D::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM40609D::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool ICM40609D::DataReadyInterruptConfigure()
@@ -580,7 +587,7 @@ void ICM40609D::FIFOReset()
 	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 }
 
 void ICM40609D::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)

src/drivers/imu/invensense/icm40609d/ICM40609D.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -75,7 +75,7 @@ private:
 	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -146,7 +146,7 @@ private:
 
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -154,12 +154,10 @@ private:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{10};

src/drivers/imu/invensense/icm42605/ICM42605.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -190,15 +190,19 @@ void ICM42605::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			uint32_t samples = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
-					perf_count(_drdy_missed_perf);
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_gyro_samples;
 
 				} else {
-					samples = _fifo_gyro_samples;
+					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
@@ -220,6 +224,12 @@ void ICM42605::RunImpl()
 					// FIFO count (size in bytes)
 					samples = (fifo_count / sizeof(FIFO::DATA));
 
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_gyro_samples + 1) {
+						timestamp_sample -= FIFO_SAMPLE_DT;
+						samples--;
+					}
+
 					if (samples > FIFO_MAX_SAMPLES) {
 						// not technically an overflow, but more samples than we expected or can publish
 						FIFOReset();
@@ -232,7 +242,7 @@ void ICM42605::RunImpl()
 			bool success = false;
 
 			if (samples >= 1) {
-				if (FIFORead(now, samples)) {
+				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
 					if (_failure_count > 0) {
@@ -410,11 +420,8 @@ int ICM42605::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM42605::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool ICM42605::DataReadyInterruptConfigure()
@@ -581,7 +588,7 @@ void ICM42605::FIFOReset()
 	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 }
 
 void ICM42605::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)

src/drivers/imu/invensense/icm42605/ICM42605.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -75,7 +75,7 @@ private:
 	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -146,7 +146,7 @@ private:
 
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -154,12 +154,10 @@ private:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{10};

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -190,15 +190,19 @@ void ICM42688P::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			uint32_t samples = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
-					perf_count(_drdy_missed_perf);
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_gyro_samples;
 
 				} else {
-					samples = _fifo_gyro_samples;
+					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
@@ -220,6 +224,12 @@ void ICM42688P::RunImpl()
 					// FIFO count (size in bytes)
 					samples = (fifo_count / sizeof(FIFO::DATA));
 
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_gyro_samples + 1) {
+						timestamp_sample -= FIFO_SAMPLE_DT;
+						samples--;
+					}
+
 					if (samples > FIFO_MAX_SAMPLES) {
 						// not technically an overflow, but more samples than we expected or can publish
 						FIFOReset();
@@ -232,7 +242,7 @@ void ICM42688P::RunImpl()
 			bool success = false;
 
 			if (samples >= 1) {
-				if (FIFORead(now, samples)) {
+				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
 					if (_failure_count > 0) {
@@ -368,11 +378,8 @@ int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM42688P::DataReady()
 {
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-		ScheduleNow();
-	}
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
 }
 
 bool ICM42688P::DataReadyInterruptConfigure()
@@ -553,7 +560,7 @@ void ICM42688P::FIFOReset()
 	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
 
 	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
+	_drdy_timestamp_sample.store(0);
 }
 
 static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -75,7 +75,7 @@ private:
 	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -158,7 +158,7 @@ private:
 
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -169,7 +169,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{13};

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -197,9 +197,16 @@ void MPU6000::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -220,7 +227,13 @@ void MPU6000::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
@@ -228,7 +241,7 @@ void MPU6000::RunImpl()
 					perf_count(_fifo_overflow_perf);
 
 				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -370,13 +383,10 @@ int MPU6000::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void MPU6000::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -488,8 +498,8 @@ void MPU6000::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RESET, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/mpu6000/MPU6000.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{8};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{8};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -140,8 +140,8 @@ private:
 	FIFO::DATA _fifo_sample_last_new_accel{};
 	uint32_t _fifo_accel_samples_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -149,12 +149,10 @@ private:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{7};

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -229,9 +229,16 @@ void MPU6500::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -252,16 +259,21 @@ void MPU6500::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -403,13 +415,10 @@ int MPU6500::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void MPU6500::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -521,8 +530,8 @@ void MPU6500::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/mpu6500/MPU6500.hpp

@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -138,8 +138,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -150,7 +150,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{15};

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -264,9 +264,16 @@ void MPU9250::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -287,16 +294,21 @@ void MPU9250::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -438,13 +450,10 @@ int MPU9250::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void MPU9250::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -594,8 +603,8 @@ void MPU9250::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/mpu9250/MPU9250.hpp

@@ -73,12 +73,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -150,8 +150,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -162,7 +162,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{18};

src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -197,9 +197,16 @@ void MPU9250_I2C::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
@@ -220,16 +227,21 @@ void MPU9250_I2C::RunImpl()
 
 			} else {
 				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
-							SAMPLES_PER_TRANSFER; // round down to nearest
+				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
+
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
 
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+				} else if (samples >= SAMPLES_PER_TRANSFER) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -371,13 +383,10 @@ int MPU9250_I2C::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void MPU9250_I2C::DataReady()
 {
-	uint32_t expected = 0;
-
 	// at least the required number of samples in the FIFO
-	if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
-	    && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-
-		_drdy_count.store(0);
+	if (++_drdy_count >= _fifo_gyro_samples) {
+		_drdy_timestamp_sample.store(hrt_absolute_time());
+		_drdy_count -= _fifo_gyro_samples;
 		ScheduleNow();
 	}
 }
@@ -495,8 +504,8 @@ void MPU9250_I2C::FIFOReset()
 	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
-	_drdy_count.store(0);
-	_drdy_fifo_read_samples.store(0);
+	_drdy_count = 0;
+	_drdy_timestamp_sample.store(0);
 
 	// FIFO_EN: enable both gyro and accel
 	// USER_CTRL: re-enable FIFO

src/drivers/imu/invensense/mpu9250/MPU9250_I2C.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -71,12 +71,12 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 1000.f};
-	static constexpr uint32_t SAMPLES_PER_TRANSFER{1};                   // ensure at least 1 new accel sample per transfer
+	static constexpr int32_t SAMPLES_PER_TRANSFER{1};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 1000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -136,8 +136,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	px4::atomic<uint32_t> _drdy_count{0};
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
@@ -145,12 +145,10 @@ private:
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	};
-
-	STATE _state{STATE::RESET};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{9};

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -170,11 +170,13 @@ void LSM9DS1::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+
 			// always check current FIFO count
 			bool success = false;
 			// Number of unread words (16-bit axes) stored in FIFO.
 			const uint8_t FIFO_SRC = RegisterRead(Register::FIFO_SRC);
-			const uint8_t samples = FIFO_SRC & static_cast<uint8_t>(FIFO_SRC_BIT::FSS);
+			uint8_t samples = FIFO_SRC & static_cast<uint8_t>(FIFO_SRC_BIT::FSS);
 
 			if (FIFO_SRC & FIFO_SRC_BIT::OVRN) {
 				// overflow
@@ -185,13 +187,19 @@ void LSM9DS1::RunImpl()
 				perf_count(_fifo_empty_perf);
 
 			} else {
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= FIFO_SAMPLE_DT;
+					samples--;
+				}
+
 				if (samples > FIFO_MAX_SAMPLES) {
 					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
 				} else if (samples >= 1) {
-					if (FIFORead(now, samples)) {
+					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {

src/drivers/imu/st/lsm9ds1/LSM9DS1.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -74,7 +74,7 @@ private:
 	static constexpr float ACCEL_RATE{ST_LSM9DS1::LA_ODR}; // 952 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / 12, sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / 12, sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	struct register_config_t {
 		Register reg;
@@ -123,7 +123,7 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register{0};
 	static constexpr uint8_t size_register_cfg{6};

src/modules/ekf2/CMakeLists.txt

@@ -45,6 +45,7 @@ px4_add_module(
 		3500
 	SRCS
 		EKF/airspeed_fusion.cpp
+		EKF/baro_bias_estimator.cpp
 		EKF/control.cpp
 		EKF/covariance.cpp
 		EKF/drag_fusion.cpp

src/modules/ekf2/EKF/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_library(ecl_EKF
 	airspeed_fusion.cpp
+	baro_bias_estimator.cpp
 	control.cpp
 	covariance.cpp
 	drag_fusion.cpp

src/modules/ekf2/EKF/baro_bias_estimator.cpp

@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file baro_bias_estimator.cpp
+ *
+ * @author Mathieu Bresciani 	<mathieu@auterion.com>
+ */
+
+#include "baro_bias_estimator.hpp"
+
+void BaroBiasEstimator::predict(const float dt)
+{
+	// State is constant
+	// Predict state covariance only
+	_state_var += _process_var * dt * dt;
+	constrainStateVar();
+
+	if (dt > FLT_EPSILON && fabsf(_dt - dt) > 0.001f) {
+		_signed_innov_test_ratio_lpf.setParameters(dt, _lpf_time_constant);
+		_dt = dt;
+	}
+}
+
+void BaroBiasEstimator::constrainStateVar()
+{
+	_state_var = math::constrain(_state_var, 1e-8f, _state_var_max);
+}
+
+void BaroBiasEstimator::fuseBias(const float measurement, const float measurement_var)
+{
+	const float innov_var = _state_var + measurement_var;
+	const float innov = measurement - _state;
+	const float K = _state_var / innov_var;
+	const float innov_test_ratio = computeInnovTestRatio(innov, innov_var);
+
+	if (isTestRatioPassing(innov_test_ratio)) {
+		updateState(K, innov);
+		updateStateCovariance(K);
+
+	}
+
+	if (isLargeOffsetDetected()) {
+		// A bias in the state has been detected by the innovation
+		// sequence check.
+		bumpStateVariance();
+	}
+
+	const float signed_innov_test_ratio = matrix::sign(innov) * innov_test_ratio;
+	_signed_innov_test_ratio_lpf.update(math::constrain(signed_innov_test_ratio, -1.f, 1.f));
+
+	_status = packStatus(innov, innov_var, innov_test_ratio);
+}
+
+inline float BaroBiasEstimator::computeInnovTestRatio(const float innov, const float innov_var) const
+{
+	return innov * innov / (_gate_size * _gate_size * innov_var);
+}
+
+inline bool BaroBiasEstimator::isTestRatioPassing(const float innov_test_ratio) const
+{
+	return innov_test_ratio < 1.f;
+}
+
+inline void BaroBiasEstimator::updateState(const float K, const float innov)
+{
+	_state = math::constrain(_state + K * innov, -_state_max, _state_max);
+}
+
+inline void BaroBiasEstimator::updateStateCovariance(const float K)
+{
+	_state_var -= K * _state_var;
+	constrainStateVar();
+}
+
+inline bool BaroBiasEstimator::isLargeOffsetDetected() const
+{
+	return fabsf(_signed_innov_test_ratio_lpf.getState()) > 0.2f;
+}
+
+inline void BaroBiasEstimator::bumpStateVariance()
+{
+	_state_var += _process_var_boost_gain * _process_var * _dt * _dt;
+}
+
+inline BaroBiasEstimator::status BaroBiasEstimator::packStatus(const float innov, const float innov_var,
+		const float innov_test_ratio) const
+{
+	// Send back status for logging
+	status ret{};
+	ret.bias = _state;
+	ret.bias_var = _state_var;
+	ret.innov = innov;
+	ret.innov_var = innov_var;
+	ret.innov_test_ratio = innov_test_ratio;
+
+	return ret;
+}

src/modules/ekf2/EKF/baro_bias_estimator.hpp

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file baro_bias_estimator.hpp
+ * @brief Implementation of a single-state baro bias estimator
+ *
+ * state: baro bias (in meters)
+ *
+ * The state is noise driven: Transition matrix A = 1
+ * x[k+1] = Ax[k] + v with v ~ N(0, Q)
+ * y[k] = x[k] + w with w ~ N(0, R)
+ *
+ * The difference between the current barometric altitude and another absolute
+ * reference (e.g.: GNSS altitude) is used as a bias measurement.
+ *
+ * During the measurment update step, the Normalized Innovation Squared (NIS) is checked
+ * and the measurement is rejected if larger than the gate size.
+ *
+ * @author Mathieu Bresciani 	<mathieu@auterion.com>
+ */
+
+#ifndef EKF_BARO_BIAS_ESTIMATOR_HPP
+#define EKF_BARO_BIAS_ESTIMATOR_HPP
+
+#include <matrix/math.hpp>
+#include <mathlib/mathlib.h>
+#include <mathlib/math/filter/AlphaFilter.hpp>
+
+class BaroBiasEstimator
+{
+public:
+	struct status {
+		float bias;
+		float bias_var;
+		float innov;
+		float innov_var;
+		float innov_test_ratio;
+	};
+
+	BaroBiasEstimator() = default;
+	~BaroBiasEstimator() = default;
+
+	void predict(float dt);
+	void fuseBias(float measurement, float measurement_var);
+
+	void setBias(float bias) { _state = bias; }
+	void setProcessNoiseStdDev(float process_noise)
+	{
+		_process_var = process_noise * process_noise;
+		_state_drift_rate = 3.f * process_noise;
+	}
+	void setBiasStdDev(float state_noise) { _state_var = state_noise * state_noise; }
+	void setInnovGate(float gate_size) { _gate_size = gate_size; }
+
+	void setMaxStateNoise(float max_noise) { _state_var_max = max_noise * max_noise; }
+
+	float getBias() const { return _state; }
+	float getBiasVar() const { return _state_var; }
+	const status &getStatus() const { return _status; }
+
+private:
+	float _state{0.f};
+	float _state_max{100.f};
+	float _state_drift_rate{0.005f}; ///< in m/s
+	float _dt{0.01f};
+
+	float _gate_size{3.f}; ///< Used for innovation filtering (innovation test ratio)
+	float _state_var{0.1f}; ///< Initial state uncertainty variance (m^2)
+	float _process_var{25.0e-6f}; ///< State process noise variance (m^2/s^2)
+	float _state_var_max{2.f}; ///< Used to constrain the state variance (m^2)
+
+	AlphaFilter<float> _signed_innov_test_ratio_lpf; ///< innovation sequence monitoring; used to detect a bias in the state
+
+	status _status;
+
+	void constrainStateVar();
+	float computeKalmanGain(float innov_var) const;
+
+	/*
+	 * Compute the ratio between the Normalized Innovation Squared (NIS)
+	 * and its maximum gate size. Use isTestRatioPassing to know if the
+	 * measurement should be fused or not.
+	 */
+	float computeInnovTestRatio(float innov, float innov_var) const;
+	bool isTestRatioPassing(float innov_test_ratio) const;
+
+	void updateState(float K, float innov);
+	void updateStateCovariance(float K);
+
+	bool isLargeOffsetDetected() const;
+	void bumpStateVariance();
+
+	status packStatus(float innov, float innov_var, float innov_test_ratio) const;
+
+	static constexpr float _lpf_time_constant{10.f}; ///< in seconds
+	static constexpr float _process_var_boost_gain{1.0e3f};
+};
+#endif // !EKF_BARO_BIAS_ESTIMATOR_HPP

src/modules/ekf2/EKF/common.h

@@ -257,6 +257,7 @@ struct parameters {
 	float gps_pos_noise{0.5f};		///< minimum allowed observation noise for gps position fusion (m)
 	float pos_noaid_noise{10.0f};		///< observation noise for non-aiding position fusion (m)
 	float baro_noise{2.0f};			///< observation noise for barometric height fusion (m)
+	float baro_drift_rate{0.005f}; ///< process noise for barometric height bias estimation (m/s)
 	float baro_innov_gate{5.0f};		///< barometric and GPS height innovation consistency gate size (STD)
 	float gps_pos_innov_gate{5.0f};		///< GPS horizontal position innovation consistency gate size (STD)
 	float gps_vel_innov_gate{5.0f};		///< GPS velocity innovation consistency gate size (STD)

src/modules/ekf2/EKF/control.cpp

@@ -1161,6 +1161,7 @@ void Ekf::controlHeightFusion()
 		break;
 	}
 
+	updateBaroHgtBias();
 	updateBaroHgtOffset();
 
 	if (_control_status.flags.rng_hgt
@@ -1184,7 +1185,8 @@ void Ekf::controlHeightFusion()
 			Vector3f baro_hgt_obs_var;
 
 			// vertical position innovation - baro measurement has opposite sign to earth z axis
-			_baro_hgt_innov(2) = _state.pos(2) + _baro_sample_delayed.hgt - _baro_hgt_offset;
+			const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
+			_baro_hgt_innov(2) = _state.pos(2) + unbiased_baro - _baro_hgt_offset;
 			// observation variance - user parameter defined
 			baro_hgt_obs_var(2) = sq(fmaxf(_params.baro_noise, 0.01f));
 			// innovation gate size

src/modules/ekf2/EKF/ekf.h

@@ -46,6 +46,7 @@
 #include "estimator_interface.h"
 
 #include "EKFGSF_yaw.h"
+#include "baro_bias_estimator.hpp"
 
 class Ekf final : public EstimatorInterface
 {
@@ -297,6 +298,7 @@ public:
 	// returns false when data is not available
 	bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
 			   float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
+	void getBaroBiasEstimatorStatus(float &bias, float &bias_var, float &innov, float &innov_var, float &innov_test_ratio);
 
 private:
 
@@ -500,6 +502,8 @@ private:
 	AlphaFilter<Vector3f> _mag_lpf{0.1f};	///< filtered magnetometer measurement for instant reset (Gauss)
 	float _hgt_sensor_offset{0.0f};		///< set as necessary if desired to maintain the same height after a height reset (m)
 	float _baro_hgt_offset{0.0f};		///< baro height reading at the local NED origin (m)
+	float _baro_hgt_bias{0.0f};
+	float _baro_hgt_bias_var{1.f};
 
 	// Variables used to control activation of post takeoff functionality
 	float _last_on_ground_posD{0.0f};	///< last vertical position when the in_air status was false (m)
@@ -890,6 +894,7 @@ private:
 	void startGpsHgtFusion();
 
 	void updateBaroHgtOffset();
+	void updateBaroHgtBias();
 
 	// return an estimation of the GPS altitude variance
 	float getGpsHeightVariance();
@@ -983,6 +988,8 @@ private:
 	// yaw estimator instance
 	EKFGSF_yaw _yawEstimator{};
 
+	BaroBiasEstimator _baro_b_est{};
+
 	int64_t _ekfgsf_yaw_reset_time{0};	///< timestamp of last emergency yaw reset (uSec)
 	bool _do_ekfgsf_yaw_reset{false};	// true when an emergency yaw reset has been requested
 	uint8_t _ekfgsf_yaw_reset_count{0};	// number of times the yaw has been reset to the EKF-GSF estimate

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -1319,7 +1319,10 @@ void Ekf::updateBaroHgtOffset()
 		const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f);
 
 		// apply a 10 second first order low pass filter to baro offset
-		const float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt + _state.pos(2) - _baro_hgt_offset);
+		const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
+;
+		const float offset_rate_correction =  0.1f * (unbiased_baro + _state.pos(2) -
+								_baro_hgt_offset);
 		_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
 	}
 }
@@ -1334,6 +1337,37 @@ float Ekf::getGpsHeightVariance()
 	return gps_alt_var;
 }
 
+void Ekf::updateBaroHgtBias()
+{
+	// Baro bias estimation using GPS altitude
+	if (_baro_data_ready) {
+		const float dt = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f);
+		_baro_b_est.setMaxStateNoise(_params.baro_noise);
+		_baro_b_est.setProcessNoiseStdDev(_params.baro_drift_rate);
+		_baro_b_est.predict(dt);
+	}
+
+	if (_gps_data_ready && !_gps_hgt_intermittent
+	    && _gps_checks_passed &&_NED_origin_initialised
+	    && !_baro_hgt_faulty) {
+		// Use GPS altitude as a reference to compute the baro bias measurement
+		const float baro_bias = (_baro_sample_delayed.hgt - _baro_hgt_offset)
+					- (_gps_sample_delayed.hgt - _gps_alt_ref);
+		const float baro_bias_var = getGpsHeightVariance() + sq(_params.baro_noise);
+		_baro_b_est.fuseBias(baro_bias, baro_bias_var);
+	}
+}
+
+void Ekf::getBaroBiasEstimatorStatus(float &bias, float &bias_var, float &innov, float &innov_var, float &innov_test_ratio)
+{
+	BaroBiasEstimator::status status = _baro_b_est.getStatus();
+	bias = status.bias;
+	bias_var = status.bias_var;
+	innov = status.innov;
+	innov_var = status.innov_var;
+	innov_test_ratio = status.innov_test_ratio;
+}
+
 Vector3f Ekf::getVisionVelocityInEkfFrame() const
 {
 	Vector3f vel;

src/modules/ekf2/EKF2.cpp

@@ -202,6 +202,7 @@ bool EKF2::multi_init(int imu, int mag)
 	_estimator_status_flags_pub.advertise();
 	_estimator_visual_odometry_aligned_pub.advertised();
 	_yaw_est_pub.advertise();
+	_baro_bias_estimate_pub.advertise();
 
 	bool changed_instance = _vehicle_imu_sub.ChangeInstance(imu) && _magnetometer_sub.ChangeInstance(mag);
 
@@ -505,6 +506,7 @@ void EKF2::Run()
 			PublishInnovationTestRatios(now);
 			PublishInnovationVariances(now);
 			PublishYawEstimatorStatus(now);
+			PublishBaroBiasEstimate(now);
 
 			UpdateMagCalibration(now);
 
@@ -548,6 +550,21 @@ void EKF2::PublishAttitude(const hrt_abstime &timestamp)
 	}
 }
 
+void EKF2::PublishBaroBiasEstimate(const hrt_abstime &timestamp)
+{
+
+	baro_bias_estimate_s bbe{};
+	bbe.timestamp = timestamp;
+	bbe.timestamp_sample = timestamp;
+	bbe.baro_device_id = _device_id_baro;
+	_ekf.getBaroBiasEstimatorStatus(bbe.bias,
+					bbe.bias_var,
+					bbe.innov,
+					bbe.innov_var,
+					bbe.innov_test_ratio);
+	_baro_bias_estimate_pub.publish(bbe);
+}
+
 void EKF2::PublishEkfDriftMetrics(const hrt_abstime &timestamp)
 {
 	// publish GPS drift data only when updated to minimise overhead

src/modules/ekf2/EKF2.hpp

@@ -62,6 +62,7 @@
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/baro_bias_estimate.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/ekf2_timestamps.h>
 #include <uORB/topics/ekf_gps_drift.h>
@@ -129,6 +130,7 @@ private:
 	void Run() override;
 
 	void PublishAttitude(const hrt_abstime &timestamp);
+	void PublishBaroBiasEstimate(const hrt_abstime &timestamp);
 	void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
 	void PublishEventFlags(const hrt_abstime &timestamp);
 	void PublishGlobalPosition(const hrt_abstime &timestamp);
@@ -256,6 +258,7 @@ private:
 	uint32_t _filter_warning_event_changes{0};
 	uint32_t _filter_information_event_changes{0};
 
+	uORB::PublicationMulti<baro_bias_estimate_s>         _baro_bias_estimate_pub{ORB_ID(baro_bias_estimate)};
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
 	uORB::PublicationMulti<ekf_gps_drift_s>              _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -103,289 +103,289 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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 10285000,0.70421,0.00210479,-0.0132247,0.709865,-0.0635741,0.0291875,-0.135584,-0.0907712,0.052159,-365.53,-1.61447e-05,-5.72774e-05,-1.2807e-06,-1.03987e-05,2.08484e-05,-0.000757139,0.208315,0.00203793,0.435262,0,0,0,0,0,0.00211845,0.000463954,0.000463895,0.0015892,1.99116,1.9911,0.115259,8.11468,8.11252,0.149242,5.74325e-09,5.74889e-09,4.57318e-08,3.66663e-06,3.66685e-06,1.95196e-06,0,0,0,0,0,0,0,0
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-10485000,0.703987,0.00213573,-0.0131411,0.710088,0.00716376,-0.0186189,0.0033336,0.00163644,-0.0037018,-365.498,-1.61953e-05,-5.72457e-05,-3.14217e-06,-1.19107e-05,2.21139e-05,-0.000828829,0.208315,0.00203793,0.435262,0,0,0,0,0,0.00207735,0.000486052,0.000485972,0.00157441,0.041729,0.0417296,0.0381152,0.126304,0.126304,0.118069,5.74071e-09,5.74637e-09,3.93643e-08,3.66656e-06,3.66682e-06,1.77591e-06,0,0,0,0,0,0,0,0
-10585000,0.704032,0.00224007,-0.0132638,0.710041,0.00570156,-0.0146249,0.00196686,0.00178381,-0.00345411,-365.488,-1.60924e-05,-5.70106e-05,-2.7988e-06,-1.54516e-05,2.23259e-05,-0.000849918,0.208315,0.00203793,0.435262,0,0,0,0,0,0.0020581,0.000486735,0.000486636,0.00156738,0.043961,0.0439625,0.0363722,0.0850012,0.0850012,0.107691,5.68297e-09,5.68841e-09,3.66149e-08,3.65878e-06,3.65904e-06,1.71217e-06,0,0,0,0,0,0,0,0
-10685000,0.704048,0.00229037,-0.0132439,0.710025,0.00303881,-0.0146635,-0.000901185,0.00225835,-0.00493387,-365.481,-1.60901e-05,-5.70166e-05,-2.57238e-06,-1.57729e-05,2.25765e-05,-0.000864708,0.208315,0.00203793,0.435262,0,0,0,0,0,0.00205343,0.00049826,0.000498148,0.00156251,0.0564065,0.0564115,0.0372795,0.0871877,0.0871878,0.102852,5.68226e-09,5.6877e-09,3.47163e-08,3.65877e-06,3.65903e-06,1.67256e-06,0,0,0,0,0,0,0,0
-10785000,0.704064,0.00233668,-0.0134145,0.710006,0.00190179,-0.0115055,-0.00343979,0.00229805,-0.00412338,-365.477,-1.58378e-05,-5.66947e-05,-2.39573e-06,-2.05246e-05,2.37568e-05,-0.000874527,0.208315,0.00203793,0.435262,0,0,0,0,0,0.0020348,0.000472909,0.000472746,0.00155591,0.0589938,0.0590004,0.0358729,0.0664768,0.0664769,0.0964188,5.48929e-09,5.49401e-09,3.23785e-08,3.63427e-06,3.63453e-06,1.62123e-06,0,0,0,0,0,0,0,0
-10885000,0.704041,0.00229342,-0.0133622,0.71003,-0.000137736,-0.0106167,-0.00747695,0.00236468,-0.00521163,-365.475,-1.58466e-05,-5.66873e-05,-2.78302e-06,-2.0626e-05,2.38521e-05,-0.000879593,0.208315,0.00203793,0.435262,0,0,0,0,0,0.00201735,0.00048416,0.000483988,0.00154981,0.0764922,0.0765023,0.036862,0.0701409,0.0701413,0.0922855,5.48848e-09,5.49323e-09,3.02423e-08,3.63426e-06,3.63452e-06,1.5812e-06,0,0,0,0,0,0,0,0
-10985000,0.704259,0.00228734,-0.0137204,0.709807,0.0012708,-0.00455154,-0.0114464,0.00355362,-0.00552769,-365.472,-1.50708e-05,-5.62572e-05,-9.70994e-07,-2.8837e-05,2.91317e-05,-0.00088958,0.208315,0.00203793,0.435262,0,0,0,0,0,0.00200016,0.000432264,0.000431982,0.0015435,0.0735662,0.0735782,0.0356104,0.0571714,0.0571717,0.0882195,5.16409e-09,5.1678e-09,2.82895e-08,3.59619e-06,3.59643e-06,1.53599e-06,0,0,0,0,0,0,0,0
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-11185000,0.704251,0.00221633,-0.0139402,0.70981,0.00493575,0.0024517,-0.0170386,0.00532736,-0.00558981,-365.467,-1.43661e-05,-5.60377e-05,-9.28676e-07,-3.42782e-05,3.50141e-05,-0.000904236,0.208315,0.00203793,0.435262,0,0,0,0,0,0.00196817,0.000378186,0.000377725,0.00153227,0.0823904,0.0823973,0.0355004,0.0525398,0.0525404,0.0834949,4.78285e-09,4.78562e-09,2.48561e-08,3.55554e-06,3.55577e-06,1.46048e-06,0,0,0,0,0,0,0,0
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