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move IMU integration to sensors/vehicle_imu to fix potential accel/gyro sync issues #14906

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merged 28 commits into from
May 30, 2020
Merged

move IMU integration to sensors/vehicle_imu to fix potential accel/gyro sync issues #14906

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2906f40
sensors/vehicle_imu: integrate accel and gyro
dagar May 9, 2020
9ba72f7
lockstep testing hacks
dagar May 19, 2020
792b157
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 20, 2020
3bef9c3
changes from code review
dagar May 20, 2020
eeecdc5
Integrator move from lib/drivers/device -> sensors/vehicle_imu
dagar May 20, 2020
859b1eb
advertise vehicle_imu_status immediately
dagar May 20, 2020
b3f8ed7
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 23, 2020
3cc350d
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 25, 2020
f645b3b
sensors: create VehicleIMU instances sequentially as data is actually…
dagar May 25, 2020
ff27251
new icm20948 remove obsolete PX4Accelerometer/PX4Gyroscope set_update…
dagar May 25, 2020
a1be128
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 26, 2020
c4b6c72
sensors/vehicle_imu: integrate gyro first, then only take accel until…
dagar May 26, 2020
d20e341
sensors/vehicle_imu: remove debug perf counters
dagar May 27, 2020
09b3dab
Update src/modules/sensors/vehicle_imu/VehicleIMU.cpp
dagar May 27, 2020
680de1a
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 27, 2020
e0180f3
sensors/vehicle_imu: don't integrate every available gyro sample unle…
dagar May 27, 2020
470f418
TESTING
dagar May 28, 2020
5f07340
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 28, 2020
8c0a3d6
logger: limit vehicle_imu
dagar May 28, 2020
ba2fd75
vehicle_imu error counts
dagar May 28, 2020
9c0f8c5
fix typo and formatting
dagar May 28, 2020
ebee09b
fix sensor_selection publication and add backup schedules
dagar May 28, 2020
ec5a35f
ekf2: remove accel/gyro bias reset warning (too noisy)
dagar May 28, 2020
1b2769e
sensors status cleanup whitespace and ordering
dagar May 28, 2020
44ec4ea
IMU_INTEG_RATE add enums and comment
dagar May 28, 2020
043f83a
sensors status minor tweaks
dagar May 28, 2020
90c1864
remove IMU_INTEG_RATE enums
dagar May 28, 2020
e463c7e
Merge remote-tracking branch 'px4/master' into pr-sensors_vehicle_imu…
dagar May 30, 2020
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10 changes: 2 additions & 8 deletions .ci/Jenkinsfile-hardware
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Expand Up @@ -770,19 +770,16 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_integrated"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_baro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_combined"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_integrated"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener servorail_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
Expand Down Expand Up @@ -832,19 +829,16 @@ void statusSEGGER() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_integrated"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_baro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_combined"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_integrated"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener servorail_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
Expand Down
4 changes: 2 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/rcS
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Expand Up @@ -123,8 +123,8 @@ then
param set CAL_ACC0_ID 1311244
param set CAL_ACC_PRIME 1311244

param set CAL_GYRO0_ID 2294028
param set CAL_GYRO_PRIME 2294028
param set CAL_GYRO0_ID 1311244
param set CAL_GYRO_PRIME 1311244

param set CAL_MAG0_ID 197388
param set CAL_MAG_PRIME 197388
Expand Down
5 changes: 1 addition & 4 deletions msg/CMakeLists.txt
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Expand Up @@ -112,15 +112,11 @@ set(msg_files
satellite_info.msg
sensor_accel.msg
sensor_accel_fifo.msg
sensor_accel_integrated.msg
sensor_accel_status.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
sensor_gyro.msg
sensor_gyro_fifo.msg
sensor_gyro_integrated.msg
sensor_gyro_status.msg
sensor_mag.msg
sensor_preflight.msg
sensor_selection.msg
Expand Down Expand Up @@ -154,6 +150,7 @@ set(msg_files
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_imu.msg
vehicle_imu_status.msg
vehicle_land_detected.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
Expand Down
6 changes: 5 additions & 1 deletion msg/sensor_accel.msg
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Expand Up @@ -9,4 +9,8 @@ float32 z # acceleration in the NED Z board axis in m/s^2

float32 temperature # temperature in degrees celsius

uint8 ORB_QUEUE_LENGTH = 4
uint32 error_count

uint8[3] clip_counter # clip count per axis in the sample period

uint8 ORB_QUEUE_LENGTH = 8
12 changes: 0 additions & 12 deletions msg/sensor_accel_integrated.msg
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This file was deleted.

17 changes: 0 additions & 17 deletions msg/sensor_accel_status.msg
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This file was deleted.

4 changes: 3 additions & 1 deletion msg/sensor_gyro.msg
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Expand Up @@ -9,4 +9,6 @@ float32 z # angular velocity in the NED Z board axis in rad/s

float32 temperature # temperature in degrees celsius

uint8 ORB_QUEUE_LENGTH = 4
uint32 error_count

uint8 ORB_QUEUE_LENGTH = 8
12 changes: 0 additions & 12 deletions msg/sensor_gyro_integrated.msg
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This file was deleted.

19 changes: 0 additions & 19 deletions msg/sensor_gyro_status.msg
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This file was deleted.

12 changes: 12 additions & 0 deletions msg/tools/px_generate_uorb_topic_helper.py
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Expand Up @@ -305,6 +305,18 @@ def print_field(field):
print("char device_id_buffer[80];")
print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);")
elif field.name == 'accel_device_id':
print("char accel_device_id_buffer[80];")
print("device::Device::device_id_print_buffer(accel_device_id_buffer, sizeof(accel_device_id_buffer), message.accel_device_id);")
print("PX4_INFO_RAW(\"\\taccel_device_id: %d (%s) \\n\", message.accel_device_id, accel_device_id_buffer);")
elif field.name == 'gyro_device_id':
print("char gyro_device_id_buffer[80];")
print("device::Device::device_id_print_buffer(gyro_device_id_buffer, sizeof(gyro_device_id_buffer), message.gyro_device_id);")
print("PX4_INFO_RAW(\"\\tgyro_device_id: %d (%s) \\n\", message.gyro_device_id, gyro_device_id_buffer);")
elif field.name == 'baro_device_id':
print("char baro_device_id_buffer[80];")
print("device::Device::device_id_print_buffer(baro_device_id_buffer, sizeof(baro_device_id_buffer), message.baro_device_id);")
print("PX4_INFO_RAW(\"\\tbaro_device_id: %d (%s) \\n\", message.baro_device_id, baro_device_id_buffer);")
elif is_array and 'char' in field.type:
print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
else:
Expand Down
34 changes: 14 additions & 20 deletions msg/tools/uorb_rtps_message_ids.yaml
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Expand Up @@ -267,40 +267,34 @@ rtps:
id: 117
- msg: sensor_accel_fifo
id: 118
- msg: sensor_accel_status
id: 119
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@dagar can you rearrange the ID's so we don't have unused numbers? Thanks!

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Shift the entire set after 118 down? What's the expectation/requirement for these id numbers (persistence, etc)?

- msg: sensor_gyro_fifo
id: 119
- msg: vehicle_imu
id: 120
- msg: sensor_gyro_status
- msg: vehicle_imu_status
id: 121
- msg: sensor_accel_integrated
id: 122
- msg: sensor_gyro_integrated
id: 123
- msg: vehicle_imu
id: 124
- msg: vehicle_angular_acceleration
id: 125
id: 122
- msg: logger_status
id: 126
id: 123
- msg: rpm
id: 127
id: 124
- msg: hover_thrust_estimate
id: 128
id: 125
- msg: trajectory_bezier
id: 129
id: 126
- msg: vehicle_trajectory_bezier
id: 130
id: 127
- msg: timesync_status
id: 131
id: 128
- msg: orb_test
id: 132
id: 129
- msg: orb_test_medium
id: 133
id: 130
- msg: orb_test_large
id: 134
id: 131
- msg: yaw_estimator_status
id: 135
id: 132
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 150
Expand Down
4 changes: 2 additions & 2 deletions msg/vehicle_imu.msg
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Expand Up @@ -8,8 +8,8 @@ uint32 gyro_device_id # Gyroscope unique device ID for the sensor that

float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)

uint16 dt # integration period in us
uint16 delta_angle_dt # integration period in us
uint16 delta_velocity_dt # integration period in us

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
Expand Down
16 changes: 16 additions & 0 deletions msg/vehicle_imu_status.msg
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@@ -0,0 +1,16 @@
uint64 timestamp # time since system start (microseconds)

uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles

uint32[3] accel_clipping # clipping per axis

uint32 accel_error_count
uint32 gyro_error_count

uint16 accel_rate_hz
uint16 gyro_rate_hz

float32 accel_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
3 changes: 1 addition & 2 deletions src/drivers/drv_sensor.h
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Expand Up @@ -68,13 +68,12 @@
#define DRV_IMU_DEVTYPE_LSM303D 0x11
#define DRV_ACC_DEVTYPE_BMA180 0x12
#define DRV_ACC_DEVTYPE_MPU6000_LEGACY 0x13
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
#define DRV_IMU_DEVTYPE_SIM 0x14
#define DRV_ACC_DEVTYPE_MPU9250_LEGACY 0x16
#define DRV_IMU_DEVTYPE_BMI160 0x17

#define DRV_IMU_DEVTYPE_MPU6000 0x21
#define DRV_GYR_DEVTYPE_L3GD20 0x22
#define DRV_GYR_DEVTYPE_GYROSIM 0x23
#define DRV_IMU_DEVTYPE_MPU9250 0x24
#define DRV_IMU_DEVTYPE_ICM20649 0x25
#define DRV_IMU_DEVTYPE_ICM42688P 0x26
Expand Down
3 changes: 0 additions & 3 deletions src/drivers/imu/adis16448/ADIS16448.cpp
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Expand Up @@ -115,9 +115,6 @@ bool ADIS16448::reset()
return false;
}

_px4_accel.set_update_rate(_sample_rate);
_px4_gyro.set_update_rate(_sample_rate);

// Set gyroscope scale to default value.
//if (!set_gyro_dyn_range(GYRO_INITIAL_SENSITIVITY)) {
// return false;
Expand Down
3 changes: 0 additions & 3 deletions src/drivers/imu/adis16477/ADIS16477.cpp
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Expand Up @@ -69,10 +69,7 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
#endif // GPIO_SPI1_RESET_ADIS16477

_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
_px4_accel.set_update_rate(ADIS16477_DEFAULT_RATE);

_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
_px4_gyro.set_update_rate(ADIS16477_DEFAULT_RATE);
}

ADIS16477::~ADIS16477()
Expand Down
3 changes: 0 additions & 3 deletions src/drivers/imu/adis16497/ADIS16497.cpp
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Expand Up @@ -84,9 +84,6 @@ ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
// Configure hardware reset line
px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
#endif // GPIO_SPI1_RESET_ADIS16497

_px4_accel.set_update_rate(ADIS16497_DEFAULT_RATE);
_px4_gyro.set_update_rate(ADIS16497_DEFAULT_RATE);
}

ADIS16497::~ADIS16497()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/bma180/bma180.cpp
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Expand Up @@ -182,7 +182,6 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read"))
{
_px4_accel.set_update_rate(1000);
}

BMA180::~BMA180()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/bmi055/BMI055_accel.cpp
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Expand Up @@ -56,7 +56,6 @@ BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path
_duplicates(perf_alloc(PC_COUNT, "bmi055_accel_duplicates")),
_got_duplicate(false)
{
_px4_accel.set_update_rate(BMI055_ACCEL_DEFAULT_RATE);
}

BMI055_accel::~BMI055_accel()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/bmi055/BMI055_gyro.cpp
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Expand Up @@ -58,7 +58,6 @@ BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers")),
_duplicates(perf_alloc(PC_COUNT, "bmi055_gyro_duplicates"))
{
_px4_gyro.set_update_rate(BMI055_GYRO_DEFAULT_RATE);
}

BMI055_gyro::~BMI055_gyro()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/bmi088/BMI088_accel.cpp
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Expand Up @@ -65,7 +65,6 @@ BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path
_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
_got_duplicate(false)
{
_px4_accel.set_update_rate(BMI088_ACCEL_DEFAULT_RATE);
}

BMI088_accel::~BMI088_accel()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/bmi088/BMI088_gyro.cpp
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Expand Up @@ -66,7 +66,6 @@ BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers")),
_duplicates(perf_alloc(PC_COUNT, "bmi088_gyro_duplicates"))
{
_px4_gyro.set_update_rate(BMI088_GYRO_DEFAULT_RATE);
}

BMI088_gyro::~BMI088_gyro()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/bmi160/bmi160.cpp
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Expand Up @@ -64,7 +64,6 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME":reset retries")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
{
_px4_gyro.set_update_rate(BMI160_GYRO_DEFAULT_RATE);
}

BMI160::~BMI160()
Expand Down
1 change: 0 additions & 1 deletion src/drivers/imu/fxas21002c/FXAS21002C.cpp
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Expand Up @@ -75,7 +75,6 @@ FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, in
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicate reading"))
{
_px4_gyro.set_update_rate(FXAS21002C_DEFAULT_RATE);
}

FXAS21002C::~FXAS21002C()
Expand Down
2 changes: 0 additions & 2 deletions src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp
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Expand Up @@ -66,8 +66,6 @@ FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, in
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad reg")),
_accel_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": acc dupe"))
{
_px4_accel.set_update_rate(FXOS8701C_ACCEL_DEFAULT_RATE);

#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
_px4_mag.set_scale(0.001f);
#endif
Expand Down
3 changes: 0 additions & 3 deletions src/drivers/imu/invensense/icm20602/ICM20602.cpp
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Expand Up @@ -316,9 +316,6 @@ void ICM20602::ConfigureSampleRate(int sample_rate)

_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);

_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);

ConfigureFIFOWatermark(_fifo_gyro_samples);
}

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3 changes: 0 additions & 3 deletions src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
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Expand Up @@ -328,9 +328,6 @@ void ICM20608G::ConfigureSampleRate(int sample_rate)
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);

_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);

_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}

bool ICM20608G::Configure()
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