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[imu] Multi IMU support #2890

Merged
merged 11 commits into from
Sep 26, 2022
Merged

[imu] Multi IMU support #2890

merged 11 commits into from
Sep 26, 2022

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gautierhattenberger
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@gautierhattenberger gautierhattenberger commented Jul 23, 2022 •
edited by fvantienen
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Reopening #2883 in the paparazzi repository

Multi IMU support

  • fixing compilation in default "single" IMU case
  • fixing ekf2 integration
  • fixing compilation bugs

First pprzlink needs to be merged: paparazzi/pprzlink#161

@gautierhattenberger gautierhattenberger mentioned this pull request Jul 23, 2022
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@fvantienen
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Thanks for changing it to the paparazzi repo. I will still make some small changes and will do that soon.

  • Fix the bitmask for calibrations
  • Fix the integrated values for EKF2

OpenUAS
OpenUAS reviewed Aug 10, 2022
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Why remove the git tag for airframes, this CDW introduced tag allowed us to easy re-testfly what once flew successfully to validate if hardware still works befroe we testfly e.g. new code.

@fvantienen fvantienen force-pushed the multi_imu branch 2 times, most recently from 567823e to a7246ee Compare September 19, 2022 14:18
@fvantienen fvantienen self-assigned this Sep 20, 2022
@gautierhattenberger
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It needs an update of pprzlink. @fvantienen, tell me if you are ready for review.

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I will update the pprzlink, currently fixing the last parts hope to be finished today.

fvantienen and others added 9 commits September 20, 2022 14:37
@fvantienen
[imu] Multi IMU support
7c7cfbc
@fvantienen
[imu] Fix new imu structure
ff37e63
@fvantienen
[modules] Remove imu_mag_current module
1307cff
@fvantienen
[nps] Set the default sensor parameters
4b28d6d
@fvantienen
[tests] Fix some tests and errors
5aea98d
@fvantienen
[imu] Change IMU to body frame
7d0692f
@gautierhattenberger @fvantienen
[imu] backward compat for single imu calibration
00766ee 
- old airframe with single imu configuration will continue to work, ABI
id is automatically found
- mag modules require @imu to guarantee init order, multiple calls of
imu_init is no longer needed
- ABI_BROADCAST id is used by default and then replaced by correct ID
- imu_set_default_config will override user conf if params are not NULL
@gautierhattenberger @fvantienen
fix compilation of modules tests
b08ce1e
@fvantienen
[imu] Keep track of calibration status sensors
affcc2c
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@gautierhattenberger This is now ready for review and tested on the Cube Orange with 3 IMU's.

@Fabien-B
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Tested OK on apogee with ChibiOs.

@gautierhattenberger
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also tested on Tawaki

@gautierhattenberger gautierhattenberger merged commit b8647d7 into master Sep 26, 2022
@gautierhattenberger gautierhattenberger deleted the multi_imu branch September 26, 2022 14:31
@fvantienen
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I can't see why master is failing now in semaphore. Can someone post the errors?

@fvantienen
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Also the pprzlink repo was not merged, so that still has to be done.

@gautierhattenberger
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I don't know why semaphore is failing, it is not even starting it seems. I have checked that it works by hand by starting a remote ssh session. We'll see after next commit.
First fix the pprzlink issue.

@gautierhattenberger gautierhattenberger mentioned this pull request Sep 28, 2022
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@gautierhattenberger @fvantienen @Fabien-B @OpenUAS