[feature] icm42670p driver support

[ShiauweiZhao]

No description provided.

[dagar]

Looks good, has this had any testing on hardware?

[ShiauweiZhao]

the error_count is fifo_empty becasue i use fifo read imu data

[dagar]

Taking a look at the change I see that you have the output data rate at 800 Hz and the filters set. What we've settled on for the the other drivers is to disable all sensor side processing and get full raw data (or as fast as we possibly need it) via the FIFO and then perform all filtering within PX4. This way you can see what's really happening with the system and the filtering is completely user configurable.

The other setting that's a bit low is the gyro is the gyro range (250 degrees/second).

Would you mind if we sync up the configuration of the icm42670p to be roughly in line with the icm42650 (or similar)?

[ShiauweiZhao]

Taking a look at the change I see that you have the output data rate at 800 Hz and the filters set. What we've settled on for the the other drivers is to disable all sensor side processing and get full raw data (or as fast as we possibly need it) via the FIFO and then perform all filtering within PX4. This way you can see what's really happening with the system and the filtering is completely user configurable.

now 42670p use 1.6khz data output and 2000 dps config