[imu] change conditions for IMU default settings

Only two different settings (low and high speed / bandwidth) depending of PERIODIC_FREQUENCY with a transition at 500 Hz
2026-03-23 07:23:10 +08:00 · 2025-12-16 22:45:27 +01:00
parent b7ed10502d
commit c7beb9b2d4
9 changed files with 53 additions and 65 deletions
--- a/sw/airborne/modules/imu/imu_aspirin_2_spi.c
+++ b/sw/airborne/modules/imu/imu_aspirin_2_spi.c
@@ -45,27 +45,27 @@ PRINT_CONFIG_VAR(ASPIRIN_2_SPI_DEV)

 /* MPU60x0 gyro/accel internal lowpass frequency */
 #if !defined ASPIRIN_2_LOWPASS_FILTER && !defined ASPIRIN_2_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if PERIODIC_FREQUENCY < 500
 /* 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 == 500) || (PERIODIC_FREQUENCY == 512)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* 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 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)
-
 PRINT_CONFIG_VAR(ASPIRIN_2_GYRO_RANGE)
 PRINT_CONFIG_VAR(ASPIRIN_2_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_bebop.c
+++ b/sw/airborne/modules/imu/imu_bebop.c
@@ -43,25 +43,27 @@ PRINT_CONFIG_VAR(BEBOP_MAG_I2C_DEV)
 PRINT_CONFIG_VAR(BEBOP_MPU_I2C_DEV)

 #if !defined BEBOP_LOWPASS_FILTER && !defined  BEBOP_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
 */
 #define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define BEBOP_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif PERIODIC_FREQUENCY == 512
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
 */
 #define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_256HZ
 #define BEBOP_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(BEBOP_SMPLRT_DIV)
 PRINT_CONFIG_VAR(BEBOP_LOWPASS_FILTER)
-
 PRINT_CONFIG_VAR(BEBOP_GYRO_RANGE)
 PRINT_CONFIG_VAR(BEBOP_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_disco.c
+++ b/sw/airborne/modules/imu/imu_disco.c
@@ -42,26 +42,27 @@ PRINT_CONFIG_VAR(DISCO_MPU_I2C_DEV)
 #endif

 #if !defined DISCO_LOWPASS_FILTER && !defined DISCO_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
 */
 #define DISCO_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define DISCO_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif PERIODIC_FREQUENCY == 512
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
 */
 #define DISCO_LOWPASS_FILTER MPU60X0_DLPF_256HZ
 #define DISCO_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
+
 #endif
 #endif

 PRINT_CONFIG_VAR(DISCO_SMPLRT_DIV)
 PRINT_CONFIG_VAR(DISCO_LOWPASS_FILTER)
-
 PRINT_CONFIG_VAR(DISCO_GYRO_RANGE)
 PRINT_CONFIG_VAR(DISCO_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_mpu6000.c
+++ b/sw/airborne/modules/imu/imu_mpu6000.c
@@ -40,41 +40,36 @@ PRINT_CONFIG_VAR(IMU_MPU_SPI_DEV)

 /* MPU60x0 gyro/accel internal lowpass frequency */
 #if !defined IMU_MPU_LOWPASS_FILTER && !defined IMU_MPU_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY >= 60) && (PERIODIC_FREQUENCY <= 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
 */
 #define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define IMU_MPU_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+
 #ifndef IMU_MPU_ACCEL_LOWPASS_FILTER
 #define IMU_MPU_ACCEL_LOWPASS_FILTER MPU60X0_DLPF_ACC_44HZ // for ICM sensors
 #endif
-#elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
 */
 #define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_256HZ
 #define IMU_MPU_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
+
 #ifndef IMU_MPU_ACCEL_LOWPASS_FILTER
 #define IMU_MPU_ACCEL_LOWPASS_FILTER MPU60X0_DLPF_ACC_218HZ // for ICM sensors
 #endif
-#else
-/* By default, don't go too fast */
-#define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
-#define IMU_MPU_SMPLRT_DIV 9
-PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#ifndef IMU_MPU_ACCEL_LOWPASS_FILTER
-#define IMU_MPU_ACCEL_LOWPASS_FILTER MPU60X0_DLPF_ACC_44HZ // for ICM sensors
-#endif
-#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV."
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(IMU_MPU_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU_ACCEL_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU_SMPLRT_DIV)
-
 PRINT_CONFIG_VAR(IMU_MPU_GYRO_RANGE)
 PRINT_CONFIG_VAR(IMU_MPU_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_mpu6000_hmc5883.c
+++ b/sw/airborne/modules/imu/imu_mpu6000_hmc5883.c
@@ -40,27 +40,27 @@ PRINT_CONFIG_VAR(IMU_HMC_I2C_DEV)

 /* MPU60x0 gyro/accel internal lowpass frequency */
 #if !defined IMU_MPU_LOWPASS_FILTER && !defined IMU_MPU_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
 */
 #define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define IMU_MPU_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif (PERIODIC_FREQUENCY == 500) || (PERIODIC_FREQUENCY == 512)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
 */
 #define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_256HZ
 #define IMU_MPU_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
-#else
-#error Non-default PERIODIC_FREQUENCY: please define IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV.
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(IMU_MPU_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU_SMPLRT_DIV)
-
 PRINT_CONFIG_VAR(IMU_MPU_GYRO_RANGE)
 PRINT_CONFIG_VAR(IMU_MPU_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_mpu60x0_i2c.c
+++ b/sw/airborne/modules/imu/imu_mpu60x0_i2c.c
@@ -34,27 +34,27 @@

 /* MPU60x0 gyro/accel internal lowpass frequency */
 #if !defined IMU_MPU60X0_LOWPASS_FILTER && !defined IMU_MPU60X0_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
 */
 #define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define IMU_MPU60X0_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif (PERIODIC_FREQUENCY == 500) || (PERIODIC_FREQUENCY == 512)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
 */
 #define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_256HZ
 #define IMU_MPU60X0_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
-#else
-#error Non-default PERIODIC_FREQUENCY: please define IMU_MPU60X0_LOWPASS_FILTER and IMU_MPU60X0_SMPLRT_DIV.
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(IMU_MPU60X0_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU60X0_SMPLRT_DIV)
-
 PRINT_CONFIG_VAR(IMU_MPU60X0_GYRO_RANGE)
 PRINT_CONFIG_VAR(IMU_MPU60X0_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
@@ -33,7 +33,7 @@
 #include "generated/modules.h"

 #if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined IMU_MPU9250_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY >= 60) && (PERIODIC_FREQUENCY <= 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
 * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
 * Output rate: 100Hz
@@ -42,7 +42,8 @@
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
 #define IMU_MPU9250_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
 * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
 * Output rate: 2kHz
@@ -51,19 +52,13 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_184HZ
 #define IMU_MPU9250_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
-#else
-/* By default, don't go too fast */
-#define IMU_MPU9250_SMPLRT_DIV 9
-#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
-#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
-PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_ACCEL_LOWPASS_FILTER and IMU_MPU9250_SMPLRT_DIV."
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
-
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_mpu9250_spi.c
+++ b/sw/airborne/modules/imu/imu_mpu9250_spi.c
@@ -39,7 +39,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)


 #if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined IMU_MPU9250_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY >= 60) && (PERIODIC_FREQUENCY <= 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
 * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
 * Output rate: 100Hz
@@ -48,7 +48,8 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
 #define IMU_MPU9250_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
 * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
 * Output rate: 2kHz
@@ -57,19 +58,13 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_184HZ
 #define IMU_MPU9250_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
-#else
-/* By default, don't go too fast */
-#define IMU_MPU9250_SMPLRT_DIV 9
-#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
-#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
-PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_ACCEL_LOWPASS_FILTER and IMU_MPU9250_SMPLRT_DIV."
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
-
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)

--- a/sw/airborne/modules/imu/imu_px4fmu.c
+++ b/sw/airborne/modules/imu/imu_px4fmu.c
@@ -33,27 +33,27 @@

 /* MPU60x0 gyro/accel internal lowpass frequency */
 #if !defined PX4FMU_LOWPASS_FILTER && !defined PX4FMU_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if PERIODIC_FREQUENCY < 500
 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
 */
 #define PX4FMU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define PX4FMU_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif (PERIODIC_FREQUENCY == 500) || (PERIODIC_FREQUENCY == 512)
+
+#else // PERIODIC_FREQUENCY >= 500
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
 */
 #define PX4FMU_LOWPASS_FILTER MPU60X0_DLPF_256HZ
 #define PX4FMU_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
-#else
-#error Non-default PERIODIC_FREQUENCY: please define PX4FMU_LOWPASS_FILTER and PX4FMU_SMPLRT_DIV.
+
 #endif
 #endif
+
 PRINT_CONFIG_VAR(PX4FMU_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(PX4FMU_SMPLRT_DIV)
-
 PRINT_CONFIG_VAR(PX4FMU_GYRO_RANGE)
 PRINT_CONFIG_VAR(PX4FMU_ACCEL_RANGE)