[imu] Fix new imu structure

paparazzi · Sep 20, 2022 · dabc7e2 · dabc7e2
1 parent a958296
commit dabc7e2
Show file tree

Hide file tree

Showing 120 changed files with 830 additions and 1,306 deletions.
diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
@@ -49,7 +49,7 @@
       <define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
 
       <!-- Use the external mag (not in NPS target as then it needs to listen to all) -->
-      <define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/>
+      <!--define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/-->
     </target>
 
     <target name="nps" board="pc">
@@ -88,17 +88,17 @@
     <module name="send_imu_mag_current"/>
 
     <!-- Internal MAG -->
-    <!--module name="mag_ist8310">
+    <module name="mag_ist8310">
       <define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
       <configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
-    </module-->
+    </module>
     <!-- External MAG on GPS -->
-    <module name="mag_lis3mdl">
+    <!--module name="mag_lis3mdl">
       <define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
       <configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
       <define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
       <define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
-    </module>
+    </module-->
     <!--module name="lidar" type="tfmini">
       <configure name="TFMINI_PORT" value="UART4"/>
       <configure name="USE_TFMINI_AGL" value="FALSE"/>
@@ -246,20 +246,23 @@
     <define name="MPU_Z_SIGN" value="-1"/>
 
     <!-- Calibrated in the MAVLab 14-05-2020 -->
-    <define name="ACCEL_X_NEUTRAL" value="-337"/>
-    <define name="ACCEL_Y_NEUTRAL" value="64"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-    <define name="ACCEL_X_SENS" value="4.670307671109528" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="4.9016250738902425" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="4.846689188075245" integer="16"/>
+    <define name="ACCEL_CALIB" value="{{.abi_id=9, .neutral={-423,18,-28}, .scale={{28111,6328,61706},{6151,1291,12775}}}}"/>
+    <define name="ACCEL_X_NEUTRAL" value="-423"/>
+    <define name="ACCEL_Y_NEUTRAL" value="18"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-28"/>
+    <define name="ACCEL_X_SENS" value="4.570151198384357" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.901626625187466" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.830215267421878" integer="16"/>
 
     <!-- Calibrated at valkenburg 20-05-2020 (external magnetometer) -->
-    <define name="MAG_X_NEUTRAL" value="866"/>
-    <define name="MAG_Y_NEUTRAL" value="-1530"/>
-    <define name="MAG_Z_NEUTRAL" value="-3313"/>
-    <define name="MAG_X_SENS" value="0.6067461130451115" integer="16"/>
-    <define name="MAG_Y_SENS" value="0.6544292255627779" integer="16"/>
-    <define name="MAG_Z_SENS" value="0.6352539557433349" integer="16"/>
+    <define name="MAG_CALIB" value="{{.abi_id=4, .neutral={12,113,49}, .scale={{42598,47669,16336},{3039,3365,1153}}}}"/>
+    <define name="MAG_X_NEUTRAL" value="12"/>
+    <define name="MAG_Y_NEUTRAL" value="113"/>
+    <define name="MAG_Z_NEUTRAL" value="49"/>
+    <define name="MAG_X_SENS" value="14.017110902869321" integer="16"/>
+    <define name="MAG_Y_SENS" value="14.166121879366417" integer="16"/>
+    <define name="MAG_Z_SENS" value="14.168256847606495" integer="16"/>
+
 
     <!-- Define axis in hover frame -->
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -338,7 +341,6 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type="string[]"/>
     <define name="JSBSIM_MODEL" value="nederdrone" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>

diff --git a/conf/modules/imu_apogee.xml b/conf/modules/imu_apogee.xml
@@ -26,8 +26,6 @@
     <define name="IMU_APOGEE_I2C_DEV" value="i2c1"/>
     <define name="USE_I2C1"/>
 
-    <define name="IMU_TYPE_H" value="boards/apogee/imu_apogee.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="imu_apogee.c" dir="boards/apogee"/>

diff --git a/conf/modules/imu_ardrone2.xml b/conf/modules/imu_ardrone2.xml
@@ -26,8 +26,6 @@
     <configure name="AHRS_CORRECT_FREQUENCY" default="200"/>
     <define name="AHRS_CORRECT_FREQUENCY" value="$(AHRS_CORRECT_FREQUENCY)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_ardrone2.h" type="string"/>
-
     <file name="imu_ardrone2.c"/>
     <file name="navdata.c" dir="boards/ardrone"/>
     <test>

diff --git a/conf/modules/imu_aspirin_common.xml b/conf/modules/imu_aspirin_common.xml
@@ -45,7 +45,6 @@
     <define name="ASPIRIN_SPI_SLAVE_IDX" value="$(ASPIRIN_SPI_SLAVE_IDX)"/>
     <define name="USE_$(ASPIRIN_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="imu/imu_aspirin.h" type="string"/>
     <define name="ASPIRIN_ARCH_INDEP"/>
 
     <file name="adxl345_spi.c" dir="peripherals"/>

diff --git a/conf/modules/imu_aspirin_i2c_common.xml b/conf/modules/imu_aspirin_i2c_common.xml
@@ -37,8 +37,6 @@
     <define name="ASPIRIN_I2C_DEV" value="$(ASPIRIN_I2C_DEV_LOWER)"/>
     <define name="USE_$(ASPIRIN_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="imu/imu_aspirin_i2c.h" type="string"/>
-
     <file name="adxl345_i2c.c" dir="peripherals"/>
     <file name="itg3200.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>

diff --git a/conf/modules/imu_aspirin_v2_common.xml b/conf/modules/imu_aspirin_v2_common.xml
@@ -41,8 +41,6 @@
     <define name="ASPIRIN_2_SPI_SLAVE_IDX" value="$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
     <define name="USE_$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_aspirin_2_spi.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="imu_aspirin_2_spi.c"/>

diff --git a/conf/modules/imu_bebop.xml b/conf/modules/imu_bebop.xml
@@ -36,8 +36,6 @@
     <define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
     <define name="USE_I2C2"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_bebop.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="ak8963.c" dir="peripherals"/>
@@ -47,7 +45,6 @@
       <define name="USE_I2C1"/>
       <define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
       <define name="USE_I2C2"/>
-      <define name="IMU_TYPE_H" value="modules/imu/imu_bebop.h" type="string"/>
       <define name="PERIODIC_FREQUENCY" value="512"/>
     </test>
   </makefile>

diff --git a/conf/modules/imu_bmi088_i2c.xml b/conf/modules/imu_bmi088_i2c.xml
@@ -36,13 +36,10 @@
     <define name="IMU_BMI088_I2C_DEV" value="$(IMU_BMI088_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_BMI088_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_bmi088_i2c.h" type="string"/>
-
     <file name="bmi088.c" dir="peripherals"/>
     <file name="bmi088_i2c.c" dir="peripherals"/>
     <file name="imu_bmi088_i2c.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="modules/imu/imu_bmi088_i2c.h" type="string"/>
       <define name="USE_I2C1"/>
       <define name="IMU_BMI088_I2C_DEV" value="i2c1"/>
       <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>

diff --git a/conf/modules/imu_common.xml b/conf/modules/imu_common.xml
@@ -4,6 +4,8 @@
   <doc>
     <description>
       Common part for all IMUs.
+
+      This takes the IMU_GYRO_RAW, IMU_ACCEL_RAW and IMU_MAG_RAW ABI messages as input.
     </description>
   </doc>
   <settings>

diff --git a/conf/modules/imu_cube.xml b/conf/modules/imu_cube.xml
@@ -19,8 +19,6 @@
   <periodic fun="imu_cube_periodic()"/>
   <event fun="imu_cube_event()"/>
   <makefile target="!sim|nps|fbw">
-    <define name="IMU_TYPE_H" value="modules/imu/imu_cube.h" type="string"/>
-
     <!-- ICM20602 (isolated) -->
     <configure name="CUBE_IMU1_SPI_DEV" default="spi4" case="lower|upper"/>
     <configure name="CUBE_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE3"/>

diff --git a/conf/modules/imu_disco.xml b/conf/modules/imu_disco.xml
@@ -33,13 +33,11 @@
   <makefile target="!sim|nps|fbw">
     <define name="USE_I2C1"/>
     <define name="USE_I2C2"/>
-    <define name="IMU_TYPE_H" value="modules/imu/imu_disco.h" type="string"/>
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="ak8963.c" dir="peripherals"/>
     <file name="imu_disco.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="modules/imu/imu_disco.h" type="string"/>
       <define name="USE_I2C2"/>
       <define name="USE_I2C1"/>
       <define name="PERIODIC_FREQUENCY" value="512"/>

diff --git a/conf/modules/imu_mpu6000.xml b/conf/modules/imu_mpu6000.xml
@@ -34,13 +34,10 @@
     <define name="IMU_MPU_SPI_SLAVE_IDX" value="$(IMU_MPU_SPI_SLAVE_IDX)"/>
     <define name="USE_$(IMU_MPU_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="imu_mpu6000.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000.h" type="string"/>
       <define name="SPI_MASTER"/>
       <define name="IMU_MPU_SPI_DEV" value="spi1"/>
       <define name="USE_SPI1"/>

diff --git a/conf/modules/imu_mpu6000_hmc5883.xml b/conf/modules/imu_mpu6000_hmc5883.xml
@@ -56,14 +56,11 @@
     <define name="IMU_HMC_I2C_DEV" value="$(IMU_HMC_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_HMC_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000_hmc5883.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
     <file name="imu_mpu6000_hmc5883.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000_hmc5883.h" type="string"/>
       <define name="SPI_MASTER"/>
       <define name="IMU_MPU_SPI_DEV" value="spi1"/>
       <define name="USE_SPI1"/>

diff --git a/conf/modules/imu_mpu60x0_i2c.xml b/conf/modules/imu_mpu60x0_i2c.xml
@@ -32,8 +32,6 @@
     <define name="IMU_MPU60X0_I2C_DEV" value="$(IMU_MPU60X0_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_MPU60X0_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu60x0_i2c.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="imu_mpu60x0_i2c.c"/>

diff --git a/conf/modules/imu_mpu9250_i2c.xml b/conf/modules/imu_mpu9250_i2c.xml
@@ -37,14 +37,11 @@
     <define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_MPU9250_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu9250_i2c.h" type="string"/>
-
     <file name="mpu9250.c" dir="peripherals"/>
     <file name="mpu9250_i2c.c" dir="peripherals"/>
     <file name="ak8963.c" dir="peripherals"/>
     <file name="imu_mpu9250_i2c.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="modules/imu/imu_mpu9250_i2c.h" type="string"/>
       <define name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
       <define name="USE_I2C1"/>
     </test>

diff --git a/conf/modules/imu_mpu9250_spi.xml b/conf/modules/imu_mpu9250_spi.xml
@@ -44,13 +44,10 @@
     <define name="IMU_MPU9250_SPI_SLAVE_IDX" value="$(IMU_MPU9250_SPI_SLAVE_IDX)"/>
     <define name="USE_$(IMU_MPU9250_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="imu/imu_mpu9250_spi.h" type="string"/>
-
     <file name="mpu9250.c" dir="peripherals"/>
     <file name="mpu9250_spi.c" dir="peripherals"/>
     <file name="imu_mpu9250_spi.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="imu/imu_mpu9250_spi.h" type="string"/>
       <define name="SPI_MASTER"/>
       <define name="IMU_MPU9250_SPI_DEV" value="spi1"/>
       <define name="USE_SPI1"/>

diff --git a/conf/modules/imu_nps.xml b/conf/modules/imu_nps.xml
@@ -17,7 +17,6 @@
   <event fun="imu_nps_event()"/>
 
   <makefile target="nps|hitl">
-    <define name="IMU_TYPE_H" value="modules/imu/imu_nps.h" type="string"/>
     <file name="imu_nps.c"/>
   </makefile>
 </module>
diff --git a/conf/modules/imu_openpilot_revo.xml b/conf/modules/imu_openpilot_revo.xml
@@ -57,8 +57,6 @@
     <define name="IMU_HMC_Y_SIGN" value="1"/>
     <define name="IMU_HMC_Z_SIGN" value="-1"/>
 
-    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000_hmc5883.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>

diff --git a/conf/modules/imu_openpilot_revo_nano.xml b/conf/modules/imu_openpilot_revo_nano.xml
@@ -42,8 +42,6 @@
     <define name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
     <define name="USE_SPI_SLAVE0"/>
 
-    <define name="IMU_TYPE_H" value="imu/imu_mpu9250_spi.h" type="string"/>
-
     <file name="mpu9250.c" dir="peripherals"/>
     <file name="mpu9250_spi.c" dir="peripherals"/>
     <file name="imu_mpu9250_spi.c"/>

diff --git a/conf/modules/imu_px4fmu_v1.7.xml b/conf/modules/imu_px4fmu_v1.7.xml
@@ -29,14 +29,11 @@
     <define name="USE_SPI_SLAVE2"/>
     <define name="USE_I2C2"/>
 
-    <define name="IMU_TYPE_H" value="imu/imu_px4fmu.h" type="string"/>
-
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
     <file name="imu_px4fmu.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="imu/imu_px4fmu.h" type="string"/>
       <define name="SPI_MASTER"/>
       <define name="USE_SPI1"/>
       <define name="USE_SPI_SLAVE0"/>

diff --git a/conf/modules/imu_px4fmu_v2.4.xml b/conf/modules/imu_px4fmu_v2.4.xml
@@ -37,14 +37,11 @@
     <define name="USE_$(IMU_LSM_SPI_SLAVE_IDX)"/>
     <define name="IMU_LSM_SPI_SLAVE_IDX" value="$(IMU_LSM_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="imu/imu_px4fmu_v2.4.h" type="string"/>
-
     <file name="l3gd20_spi.c" dir="peripherals"/>
     <file name="lsm303d_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
     <file name="imu_px4fmu_v2.4.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="imu/imu_px4fmu_v2.4.h" type="string"/>
       <define name="IMU_PX4FMU_SPI_DEV" value="spi1"/>
       <define name="IMU_L3G_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
       <define name="IMU_LSM_SPI_SLAVE_IDX" value="SPI_SLAVE1"/>

diff --git a/conf/modules/imu_vectornav.xml b/conf/modules/imu_vectornav.xml
@@ -30,8 +30,6 @@
     <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
 
     <file name="vn200_serial.c" dir="peripherals"/>
-    <file name="imu_vectornav.c"/>
-
-    <define name="IMU_TYPE_H" value="modules/imu/imu_vectornav.h" type="string"/>
+    <file name="imu_vectornav.c"/
   </makefile>
 </module>
diff --git a/conf/modules/imu_xsens.xml b/conf/modules/imu_xsens.xml
@@ -33,9 +33,7 @@
     <define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
     <!-- TODO: check output mode -->
     <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
-    <define name="IMU_TYPE_H" value="modules/ins/imu_xsens.h" type="string"/>
     <test>
-      <define name="IMU_TYPE_H" value="modules/ins/imu_xsens.h" type="string"/>
       <define name="XSENS_LINK" value="uart1"/>
       <define name="USE_UART1"/>
       <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>

diff --git a/conf/modules/ins_nps.xml b/conf/modules/ins_nps.xml
@@ -19,7 +19,6 @@
     <file name="imu.c" dir="modules/imu"/>
     <file name="imu_nps.c" dir="modules/imu"/>
     <define name="USE_IMU"/>
-    <define name="IMU_TYPE_H" value="modules/imu/imu_nps.h" type="string"/>
 
     <!-- use attitude from nps sim -->
     <define name="NPS_BYPASS_AHRS" value="TRUE"/>