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Imu sample rate (#3035)

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* correct sample rate at 500hz periodic

* don't set INDI rate gain to zero
This commit is contained in:
Ewoud Smeur
2023-06-08 22:25:28 +02:00
committed by GitHub
parent a1a8704b30
commit d1c8f1c4d2
3 changed files with 7 additions and 7 deletions
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conf/modules/stabilization_indi.xml
+3 -3
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@@ -45,11 +45,11 @@
<dl_settings> <dl_settings>
<dl_settings NAME="indi"> <dl_settings NAME="indi">
<dl_setting var="indi_gains.att.p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P"/> <dl_setting var="indi_gains.att.p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P"/>
<dl_setting var="indi_gains.rate.p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/> <dl_setting var="indi_gains.rate.p" min="0.1" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/>
<dl_setting var="indi_gains.att.q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q"/> <dl_setting var="indi_gains.att.q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q"/>
<dl_setting var="indi_gains.rate.q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/> <dl_setting var="indi_gains.rate.q" min="0.1" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/>
<dl_setting var="indi_gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/> <dl_setting var="indi_gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/>
<dl_setting var="indi_gains.rate.r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/> <dl_setting var="indi_gains.rate.r" min="0.1" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
<dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/> <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
sw/airborne/modules/imu/imu_mpu9250_i2c.c
+2 -2
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@@ -32,7 +32,7 @@
#include "modules/core/abi.h" #include "modules/core/abi.h"
#if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined IMU_MPU9250_SMPLRT_DIV #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 >= 60) && (PERIODIC_FREQUENCY <= 120)
/* Accelerometer: Bandwidth 41Hz, Delay 5.9ms /* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
* Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
* Output rate: 100Hz * Output rate: 100Hz
@@ -41,7 +41,7 @@
#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
#define IMU_MPU9250_SMPLRT_DIV 9 #define IMU_MPU9250_SMPLRT_DIV 9
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling") PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
#elif PERIODIC_FREQUENCY == 512 #elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
/* Accelerometer: Bandwidth 184Hz, Delay 5.8ms /* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
* Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
* Output rate: 2kHz * Output rate: 2kHz
sw/airborne/modules/imu/imu_mpu9250_spi.c
+2 -2
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@@ -38,7 +38,7 @@ 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 !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 >= 60) && (PERIODIC_FREQUENCY <= 120)
/* Accelerometer: Bandwidth 41Hz, Delay 5.9ms /* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
* Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
* Output rate: 100Hz * Output rate: 100Hz
@@ -47,7 +47,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)
#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
#define IMU_MPU9250_SMPLRT_DIV 9 #define IMU_MPU9250_SMPLRT_DIV 9
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling") PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
#elif PERIODIC_FREQUENCY == 512 #elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
/* Accelerometer: Bandwidth 184Hz, Delay 5.8ms /* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
* Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
* Output rate: 2kHz * Output rate: 2kHz