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WIP: High-rate IMU sampling #8731

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WIP: High-rate IMU sampling #8731

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f35f1f2
Switch mpu6000 to 2 kHz.
jgoppert Jun 29, 2017
3bf091e
Disable dlpf and increase pub rate to 2k for mpu9250.
jgoppert Jun 29, 2017
de1ed1a
Set some timer reduction for mpu6000.
jgoppert Jun 29, 2017
252dbd2
mpu6000: don't set DLPF when updating sensor poll rate
AndreasAntener Jan 4, 2018
5fdd206
WIP: split gyro integrated and control messages, publish at different…
AndreasAntener Jan 4, 2018
839b49c
WIP: leave raw data as it was, what I'm really interested is "unfilte…
AndreasAntener Jan 18, 2018
26a67e2
[squash] style fix
dagar Jan 19, 2018
8ca0302
mc_att_control only run attitude controller with attitude updates
dagar Jan 19, 2018
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2 changes: 1 addition & 1 deletion cmake/configs/nuttx_px4fmu-v2_default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ set(config_module_list
drivers/led
drivers/lsm303d
drivers/magnetometer/hmc5883
drivers/magnetometer/lis3mdl
#drivers/magnetometer/lis3mdl
#drivers/mb12xx
#drivers/mkblctrl
drivers/mpu6000
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4 changes: 2 additions & 2 deletions cmake/configs/nuttx_px4fmu-v3_default.cmake
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Expand Up @@ -18,10 +18,10 @@ set(config_module_list
drivers/distance_sensor
drivers/magnetometer

drivers/adis16448
#drivers/adis16448
drivers/airspeed
drivers/blinkm
drivers/bmi160
#drivers/bmi160
drivers/boards
drivers/bst
drivers/camera_trigger
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3 changes: 3 additions & 0 deletions msg/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -87,11 +87,14 @@ set(msg_files
safety.msg
satellite_info.msg
sensor_accel.msg
sensor_accel_unfiltered.msg
sensor_baro.msg
sensor_bias.msg
sensor_combined.msg
sensor_correction.msg
sensor_gyro.msg
sensor_gyro_control.msg
sensor_gyro_unfiltered.msg
sensor_mag.msg
sensor_preflight.msg
sensor_selection.msg
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9 changes: 4 additions & 5 deletions msg/sensor_accel.msg
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Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
uint64 integral_dt # integration time
uint64 error_count
int16 x_raw
int16 y_raw
int16 z_raw
int16 temperature_raw
float32 x # acceleration in the NED X board axis in m/s^2
float32 y # acceleration in the NED Y board axis in m/s^2
float32 z # acceleration in the NED Z board axis in m/s^2
Expand All @@ -10,9 +14,4 @@ float32 temperature # temperature in degrees celsius
float32 range_m_s2 # range in m/s^2 (+- this value)
float32 scaling

int16 x_raw
int16 y_raw
int16 z_raw
int16 temperature_raw

uint32 device_id # unique device ID for the sensor that does not change between power cycles
5 changes: 5 additions & 0 deletions msg/sensor_accel_unfiltered.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
# unfiltered accel data used for logging, published at the highest rate possible if enabled

float32 x
float32 y
float32 z
11 changes: 6 additions & 5 deletions msg/sensor_gyro.msg
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Original file line number Diff line number Diff line change
@@ -1,5 +1,11 @@
# low-rate gyro message used for estimation and corrections

uint64 integral_dt # integration time
uint64 error_count
int16 x_raw
int16 y_raw
int16 z_raw
int16 temperature_raw
float32 x # angular velocity in the NED X board axis in rad/s
float32 y # angular velocity in the NED Y board axis in rad/s
float32 z # angular velocity in the NED Z board axis in rad/s
Expand All @@ -10,9 +16,4 @@ float32 temperature # temperature in degrees celcius
float32 range_rad_s
float32 scaling

int16 x_raw
int16 y_raw
int16 z_raw
int16 temperature_raw

uint32 device_id # unique device ID for the sensor that does not change between power cycles
7 changes: 7 additions & 0 deletions msg/sensor_gyro_control.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
# high-rate gyro message used for rate control

float32 x # angular velocity in the NED X board axis in rad/s
float32 y # angular velocity in the NED Y board axis in rad/s
float32 z # angular velocity in the NED Z board axis in rad/s

uint32 device_id # unique device ID for the sensor that does not change between power cycles
5 changes: 5 additions & 0 deletions msg/sensor_gyro_unfiltered.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
# unfiltered gyro data used for logging, published at the highest rate possible if enabled

float32 x
float32 y
float32 z
2 changes: 2 additions & 0 deletions src/drivers/drv_accel.h
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Expand Up @@ -52,7 +52,9 @@
#define ACCEL2_DEVICE_PATH "/dev/accel2"

#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_accel_unfiltered.h>
#define accel_report sensor_accel_s
#define accel_unfiltered_report sensor_accel_unfiltered_s
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I think we can stop doing this now.


/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
struct accel_calibration_s {
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4 changes: 4 additions & 0 deletions src/drivers/drv_gyro.h
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Expand Up @@ -52,7 +52,11 @@
#define GYRO2_DEVICE_PATH "/dev/gyro2"

#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_control.h>
#include <uORB/topics/sensor_gyro_unfiltered.h>
#define gyro_report sensor_gyro_s
#define gyro_control_report sensor_gyro_control_s
#define gyro_unfiltered_report sensor_gyro_unfiltered_s

/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
struct gyro_calibration_s {
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28 changes: 12 additions & 16 deletions src/drivers/l3gd20/l3gd20.cpp
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Expand Up @@ -986,41 +986,37 @@ L3GD20::measure()
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_bad_registers);

float xraw_f = raw_report.x;
float yraw_f = raw_report.y;
float zraw_f = raw_report.z;

switch (_orientation) {

case SENSOR_BOARD_ROTATION_000_DEG:
/* keep axes in place */
report.x_raw = raw_report.x;
report.y_raw = raw_report.y;
break;

case SENSOR_BOARD_ROTATION_090_DEG:
/* swap x and y */
report.x_raw = raw_report.y;
report.y_raw = raw_report.x;
xraw_f = raw_report.y;
yraw_f = raw_report.x;
break;

case SENSOR_BOARD_ROTATION_180_DEG:
/* swap x and y and negate both */
report.x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report.y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
xraw_f = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
yraw_f = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
break;

case SENSOR_BOARD_ROTATION_270_DEG:
/* swap x and y and negate y */
report.x_raw = raw_report.y;
report.y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
xraw_f = raw_report.y;
yraw_f = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
break;
}

report.z_raw = raw_report.z;

report.temperature_raw = raw_report.temp;

float xraw_f = report.x_raw;
float yraw_f = report.y_raw;
float zraw_f = report.z_raw;

// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);

Expand Down Expand Up @@ -1255,10 +1251,10 @@ test()
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
/*warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);*/
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));

Expand Down
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