switch remaining boards to new InvenSense IMU drivers #14473

dagar · 2020-03-25T05:44:59Z

A lot of this has already received testing in one form or another. This PR finally makes the switch to the new InvenSense drivers (almost) everywhere.

8 kHz gyro, 4 kHz accel using FIFOs and SPI DMA (mpu6000 accel is 1 kHz)
significantly reduces jitter in the system (regular driver scheduling synchronized with sensor, no more timer correction fudge factor)
clip counters
sensor side DLPF completely disabled (other than mpu6000)
with IMU_GYRO_RATEMAX drivers can run both faster (up to 4 kHz on new boards) or slower (down to 250 Hz) while still fetching and processing all raw data (8 kHz)
- this let's you configure the system for high performance racing setups or optionally significantly lowering cpu usage when a high rate inner loop isn't necessary
it's much easier to see at a glance if the sensor and driver are working correctly together
- sensor setup and driver are internally consistent (configured ODR, data ready interrupt, etc), so if something isn't configured or operating correctly it becomes extremely obvious
drivers have simple data consistentcy check (duplicated accel data) that can be used to set the max SPI speed safely (eg mpu6000, mpu6500, mpu9250 capable of 20 MHz SPI, but have been limited to 10 MHz to reduce transfer errors)
mpu9250 mag disabled by default (it weirdly impacts the data output rate)
Note: in many cases the secondary IMUs are still unchanged
- fmu-v2/v3 (lsm303d + l3gd20)
- fmu-v5 bmi055
- fmu-v5x bmi088
- modalal_fc-v1 bmi088
- holybro_durandal-v1 bmi088

TODO: board rotations + testing

jorge789 · 2020-03-25T21:51:21Z

Tested on PixRacer V4

Flight Card 1

Modes Tested:
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.

Procedure:
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode.

Notes:
The vehicle continues with the same error.In altitude mode, the vehicle did not respect the height that continued to increase in pitch forward

Logs:
https://review.px4.io/plot_app?log=ee54b708-acca-41fe-9025-6aaa34ddb7de

https://review.px4.io/plot_app?log=51962f3f-cd86-4bc1-ae74-2515d7ceb3f9

Flight Card 2

Modes Tested
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure

Armed form QGC.
Took-off on mission plan mode
. Note that commands were sent form QGC (Armed and takeoff)
Once all waypoint completed vehicle switched to RTL and landed as expected.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=282ca1ff-f02a-46e1-96bf-b7fcbddf3ff3

https://review.px4.io/plot_app?log=d5586104-f4d6-477f-8b57-f455ba7a6604

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC,once completed all waypoint then swith RTL.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=e7192025-8ac9-4e06-a97c-c66df95b93b0

https://review.px4.io/plot_app?log=c94cd0bd-f694-4789-ba9c-b8d302bfc045

Tested on CUAV nano V5

Flight Card 1

Modes Tested:
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.

Procedure:
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode.

Notes:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=29b7ed00-5609-4981-8fa0-bbefae5cebbe

https://review.px4.io/plot_app?log=b37b1c05-d890-4b94-ac49-2acb707c0be1

Flight Card 2

Modes Tested
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure

Armed form QGC.
Took-off on mission plan mode
. Note that commands were sent form QGC (Armed and takeoff)
Once all waypoint completed vehicle switched to RTL and landed as expected.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=0b75b810-8060-465e-acec-861691fa274e

https://review.px4.io/plot_app?log=71d64803-adba-4b86-a67f-c52e11aa96a0

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC,once completed all waypoint then swith RTL.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=b1b1c785-fbde-43fd-aed9-aea38a8034c9

https://review.px4.io/plot_app?log=b178c9d9-b05d-4cfe-bd93-38762f5710fb

dannyfpv · 2020-03-25T22:01:32Z

Tested on Pixhawk4 v5 f-450
Flight Card 1

Modes Tested:
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.

Procedure:
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode.

Notes:
No issues noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=088b7b0a-9cdb-4aaf-a93c-fe10a1164f44
https://review.px4.io/plot_app?log=a878b84f-84a8-47c8-ad46-7ddf101540ef

Flight Card 2

Modes Tested
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure

Armed form QGC.
Took-off on mission plan mode
. Note that commands were sent form QGC (Armed and takeoff)
Once all waypoint completed vehicle switched to RTL and landed as expected.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=8e5db87e-7c22-4d68-a577-6166e23fc115
https://review.px4.io/plot_app?log=39427796-3d93-4096-a957-bae736c61e8b

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC,once completed all waypoint then swith RTL.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=574ff5fa-6e61-452b-a9b0-feb3068a746c
https://review.px4.io/plot_app?log=6c74ed67-6d2c-43ec-b53d-139942b818dc

dannyfpv · 2020-03-25T22:27:58Z

Tested on Pixhawk4 mini v5 f-500
Flight Card 1

Modes Tested:
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.

Procedure:
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode.

Notes:
The vehicle continues with the same error.In altitude mode, the vehicle did not respect the height that continued to increase in pitch forward

Logs:
https://review.px4.io/plot_app?log=d3043466-82e7-4aea-8aac-95a473d0eac7
https://review.px4.io/plot_app?log=6c7ca5a3-1228-47b5-97a2-876a41cf55da

Flight Card 2

Modes Tested
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure

Armed form QGC.
Took-off on mission plan mode
. Note that commands were sent form QGC (Armed and takeoff)
Once all waypoint completed vehicle switched to RTL and landed as expected.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=5bcef2b4-6ef2-46ee-b745-b066de9ebd1c
https://review.px4.io/plot_app?log=6e9a490f-199a-4e63-8572-539f323f0aeb

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC,once completed all waypoint then swith RTL.
Note:
No issues were noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=e2e18799-5dd4-46f3-983f-8cf78216a6d1
https://review.px4.io/plot_app?log=ddde8f43-bd02-4edc-8f66-26f2894e4e3b

dagar · 2020-03-26T14:35:37Z

boards/airmind/mindpx-v2/src/spi.cpp

@@ -46,8 +46,8 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin14}),
 		initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),


@rolandash could you review this part? I tested it on the small mindpx quad I have (with an mpu6500) and it was working (including the data ready interrupt).

limhyon · 2020-04-03T14:30:24Z

Tested with IFO-S, works ok. Board rotation is right as you commited.

dagar added the Admin: Enhancement (improvement) 💡 label Mar 25, 2020

dagar mentioned this pull request Mar 25, 2020

[WIP]: px4_fmu-v5, px4_fmu-v5x, modalai_fv-v1 switch to new InvenSense IMU drivers (icm20602 & icm20689) #14356

Closed

dagar force-pushed the pr-new_invensense_drivers branch from 2c33be1 to ef59d62 Compare March 25, 2020 05:50

dagar requested a review from a team March 25, 2020 05:51

dagar force-pushed the pr-new_invensense_drivers branch 6 times, most recently from 7a89489 to 54ccf9b Compare March 25, 2020 15:50

dagar changed the title ~~[WIP] switch remaining boards to new InvenSense IMU drivers~~ switch remaining boards to new InvenSense IMU drivers Mar 25, 2020

dagar marked this pull request as ready for review March 25, 2020 15:51

dagar mentioned this pull request Mar 25, 2020

Fix mpu9250 driver missing mpu6500 detection issue. #14441

Closed

mrpollo mentioned this pull request Mar 25, 2020

v1.11.0 Release Notes #14402

Closed

dagar force-pushed the pr-new_invensense_drivers branch 4 times, most recently from a03e332 to 827ef02 Compare March 25, 2020 20:21

dagar commented Mar 26, 2020

View reviewed changes

dagar mentioned this pull request Mar 30, 2020

Omnibus F4SD: switch over mpu6000 to new driver #14535

Merged

dagar force-pushed the pr-new_invensense_drivers branch from e920c69 to 2310938 Compare March 30, 2020 23:47

This was referenced Mar 31, 2020

boards: airmind mindpx-v2 switch to new mpu6000 and mpu6500 drivers #14549

Merged

boards: omnibus/f4sd add board_dma_map.h #14550

Merged

dagar force-pushed the pr-new_invensense_drivers branch 4 times, most recently from 3619211 to 09b9066 Compare April 1, 2020 18:34

dagar force-pushed the pr-new_invensense_drivers branch 2 times, most recently from 3b26711 to d021754 Compare April 7, 2020 03:01

switch remaining boards to new InvenSense IMU drivers

6abc3e1

dagar force-pushed the pr-new_invensense_drivers branch from d021754 to 6abc3e1 Compare April 7, 2020 03:35

dagar added the Drivers 🔧 Sensors, Actuators, etc label Apr 7, 2020

dagar requested a review from bkueng April 7, 2020 03:35

logger: add data format version tag

bd3d111

bkueng approved these changes Apr 7, 2020

View reviewed changes

dagar merged commit 4e0441a into master Apr 7, 2020

dagar deleted the pr-new_invensense_drivers branch April 7, 2020 13:59

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switch remaining boards to new InvenSense IMU drivers #14473

switch remaining boards to new InvenSense IMU drivers #14473

dagar commented Mar 25, 2020 •

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jorge789 commented Mar 25, 2020 •

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dannyfpv commented Mar 25, 2020 •

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dannyfpv commented Mar 25, 2020

dagar Mar 26, 2020 •

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limhyon commented Apr 3, 2020

switch remaining boards to new InvenSense IMU drivers #14473

switch remaining boards to new InvenSense IMU drivers #14473

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dagar commented Mar 25, 2020 • edited Loading

jorge789 commented Mar 25, 2020 • edited by Tony3dr Loading

Tested on PixRacer V4

Tested on CUAV nano V5

dannyfpv commented Mar 25, 2020 • edited by jorge789 Loading

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