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[imu] aspirin_2_spi: default AHRS_PROPAGATE_FREQUENCY is 512

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With DLPF_256HZ (value zero) the internal sampling rate is 8kHz and with a sample rate divider of 1
the output freq was actually 4kHz and not 500Hz. Since the data is polled from the mpu at PERIODIC_FREQUENCY
the AHRS_PROPAGATE_FREQUENCY (defaulting to PERIODIC_FREQUENCY) is also 512Hz for a default rotorcraft config.

Set the output freq to 2kHz now, AHRS_PROPAGATE_FREQUENCY stays at PERIODIC_FREQUENCY=512Hz so doesn't have to be
defined in the airframe file.

Also added defaults for PERIODIC_FREQUENCY of 60 and 120Hz:
- DLPF_42HZ
- output rate of 100Hz
In these cases add <define name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
This commit is contained in:
Felix Ruess
2013-07-25 15:08:08 +02:00
parent 71efabe590
commit 4dd870b8eb
12 changed files with 42 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/esden/cocto_lm2a2.xml
+3 -5
View File
@@ -223,12 +223,10 @@ B2L -> CW
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/esden/hexy_ll11a2pwm.xml
+8 -10
View File
@@ -215,16 +215,14 @@
<load name="led_safety_status.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
conf/airframes/esden/hexy_lm2a2pwm.xml
+3 -5
View File
@@ -178,12 +178,10 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/esden/lisa2_hex.xml
-2
View File
@@ -195,8 +195,6 @@
<subsystem name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/esden/quady_ll11a2pwm.xml
+3 -5
View File
@@ -213,12 +213,10 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/esden/quady_lm1a1pwm.xml
+3 -5
View File
@@ -174,12 +174,10 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/esden/quady_lm2a2pwm.xml
+3 -5
View File
@@ -180,12 +180,10 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target>
conf/airframes/esden/quady_lm2a2pwmppm.xml
+1 -3
View File
@@ -178,10 +178,8 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+1 -2
View File
@@ -16,8 +16,7 @@
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<!-- MPU6000 is configured to output data at 500Hz -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
-2
View File
@@ -16,8 +16,6 @@
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<!-- MPU600 is configured to output data at 500Hz -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/examples/quadrotor_mlkf.xml
-2
View File
@@ -6,8 +6,6 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<configure name="FLASH_MODE" value="SWD"/>
<!-- MPU6000 is configured to output data at 500Hz -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="USE_MAGNETOMETER" value="1"/>
</target>
sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
+17 -3
View File
@@ -40,11 +40,25 @@ PRINT_CONFIG_VAR(ASPIRIN_2_SPI_SLAVE_IDX)
#endif
PRINT_CONFIG_VAR(ASPIRIN_2_SPI_DEV)
/* gyro internal lowpass frequency */
/* MPU60x0 gyro/accel internal lowpass frequency */
#if !defined ASPIRIN_2_LOWPASS_FILTER && !defined ASPIRIN_2_SMPLRT_DIV
#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
* Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
*/
#define ASPIRIN_2_LOWPASS_FILTER MPU60X0_DLPF_42HZ
#define ASPIRIN_2_SMPLRT_DIV 9
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
#elif PERIODIC_FREQUENCY == 512
/* Accelerometer: Bandwidth 260Hz, Delay 0ms
* Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
*/
#define ASPIRIN_2_LOWPASS_FILTER MPU60X0_DLPF_256HZ
#define ASPIRIN_2_SMPLRT_DIV 1
//PRINT_CONFIG_MSG("Gyro/Accel output rate is 500Hz")
#define ASPIRIN_2_SMPLRT_DIV 3
PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
#else
#error Non-default PERIODIC_FREQUENCY: please define ASPIRIN_2_LOWPASS_FILTER and ASPIRIN_2_SMPLRT_DIV.
#endif
#endif
PRINT_CONFIG_VAR(ASPIRIN_2_LOWPASS_FILTER)
PRINT_CONFIG_VAR(ASPIRIN_2_SMPLRT_DIV)