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Revert "AP_InertialSensor: disable temperature based fifo check on ICM20602"

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This reverts commit 05f8e3c18d.

this leads to bad IMU data on ICM20602
This commit is contained in:
Andrew Tridgell 2022-10-22 12:57:28 +11:00
parent 64774a2f92
commit 9fa3a433f5
2 changed files with 2 additions and 6 deletions
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5
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -226,7 +226,6 @@ void AP_InertialSensor_Invensense::start()
gdev = DEVTYPE_INS_ICM20602; gdev = DEVTYPE_INS_ICM20602;
adev = DEVTYPE_INS_ICM20602; adev = DEVTYPE_INS_ICM20602;
_enable_offset_checking = true; _enable_offset_checking = true;
_disable_temp_fifo_check = true;
break; break;
case Invensense_ICM20601: case Invensense_ICM20601:
gdev = DEVTYPE_INS_ICM20601; gdev = DEVTYPE_INS_ICM20601;
@ -547,7 +546,7 @@ bool AP_InertialSensor_Invensense::_accumulate(uint8_t *samples, uint8_t n_sampl
accel *= _accel_scale; accel *= _accel_scale;
int16_t t2 = int16_val(data, 3); int16_t t2 = int16_val(data, 3);
if (!_disable_temp_fifo_check && !_check_raw_temp(t2)) { if (!_check_raw_temp(t2)) {
if (!hal.scheduler->in_expected_delay()) { if (!hal.scheduler->in_expected_delay()) {
debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2); debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
} }
@ -592,7 +591,7 @@ bool AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(uint8_t *sam
// use temperatue to detect FIFO corruption // use temperatue to detect FIFO corruption
int16_t t2 = int16_val(data, 3); int16_t t2 = int16_val(data, 3);
if (!_disable_temp_fifo_check && !_check_raw_temp(t2)) { if (!_check_raw_temp(t2)) {
if (!hal.scheduler->in_expected_delay()) { if (!hal.scheduler->in_expected_delay()) {
debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2); debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
} }

3
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
View File

@ -169,9 +169,6 @@ private:
// buffer for fifo read // buffer for fifo read
uint8_t *_fifo_buffer; uint8_t *_fifo_buffer;
// disable temperature based fifo check
bool _disable_temp_fifo_check;
/* /*
accumulators for sensor_rate sampling accumulators for sensor_rate sampling
See description in _accumulate_sensor_rate_sampling() See description in _accumulate_sensor_rate_sampling()