invensense icm20602 improvements

- checked register mechanism and simple watchdog
    - driver checks for errors gradually and can reconfigure itself
 - respect IMU_GYRO_RATEMAX at the driver level
 - fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
 - increased sensor_gyro_fifo max size (enables running the driver much slower, but still transferring all raw data)
 - PX4Accelerometer/PX4Gyroscope remove unnecessary memsets

boards/px4/fmu-v4/cannode.cmake

@@ -59,7 +59,7 @@ px4_add_board(
 	MODULES
 		#ekf2
 		#load_mon
-		#sensors
+		sensors
 		#temperature_compensation
 	SYSTEMCMDS
 		#bl_update

boards/px4/fmu-v4/default.cmake

@@ -30,6 +30,7 @@ px4_add_board(
 		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20608-g
+		#imu/invensense/mpu9250
 		imu/mpu6000
 		imu/mpu9250
 		irlock

msg/sensor_accel_status.msg

@@ -10,7 +10,7 @@ uint8 rotation
 
 uint32[3] clipping        # clipping per axis
 
-uint16 measure_rate
+uint16 measure_rate_hz
 
 float32 full_scale_range
 

msg/sensor_gyro_fifo.msg

@@ -8,6 +8,6 @@ float32 scale
 
 uint8 samples             # number of valid samples
 
-int16[16] x               # angular velocity in the NED X board axis in rad/s
+int16[32] x               # angular velocity in the NED X board axis in rad/s
-int16[16] y               # angular velocity in the NED Y board axis in rad/s
+int16[32] y               # angular velocity in the NED Y board axis in rad/s
-int16[16] z               # angular velocity in the NED Z board axis in rad/s
+int16[32] z               # angular velocity in the NED Z board axis in rad/s

msg/sensor_gyro_status.msg

@@ -10,7 +10,7 @@ uint8 rotation
 
 uint32[3] clipping        # clipping per axis
 
-uint16 measure_rate
+uint16 measure_rate_hz
 
 float32 full_scale_range
 

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -50,13 +50,13 @@ namespace wq_configurations
 {
 static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
 
-static constexpr wq_config_t SPI0{"wq:SPI0", 1900, -1};
+static constexpr wq_config_t SPI0{"wq:SPI0", 2000, -1};
-static constexpr wq_config_t SPI1{"wq:SPI1", 1900, -2};
+static constexpr wq_config_t SPI1{"wq:SPI1", 2000, -2};
-static constexpr wq_config_t SPI2{"wq:SPI2", 1900, -3};
+static constexpr wq_config_t SPI2{"wq:SPI2", 2000, -3};
-static constexpr wq_config_t SPI3{"wq:SPI3", 1900, -4};
+static constexpr wq_config_t SPI3{"wq:SPI3", 2000, -4};
-static constexpr wq_config_t SPI4{"wq:SPI4", 1900, -5};
+static constexpr wq_config_t SPI4{"wq:SPI4", 2000, -5};
-static constexpr wq_config_t SPI5{"wq:SPI5", 1900, -6};
+static constexpr wq_config_t SPI5{"wq:SPI5", 2000, -6};
-static constexpr wq_config_t SPI6{"wq:SPI6", 1900, -7};
+static constexpr wq_config_t SPI6{"wq:SPI6", 2000, -7};
 
 static constexpr wq_config_t I2C0{"wq:I2C0", 1400, -8};
 static constexpr wq_config_t I2C1{"wq:I2C1", 1400, -9};

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -36,17 +36,16 @@
 #include <px4_platform/board_dma_alloc.h>
 
 using namespace time_literals;
-using namespace InvenSense_ICM20602;
 
-static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
 
-static constexpr uint32_t GYRO_RATE{8000};  // 8 kHz gyro
+static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
-static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
+{
-
+	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
+}
-
-static constexpr uint32_t FIFO_GYRO_SAMPLES{FIFO_INTERVAL / (1000000 / GYRO_RATE)};
-static constexpr uint32_t FIFO_ACCEL_SAMPLES{FIFO_INTERVAL / (1000000 / ACCEL_RATE)};
 
 ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
 	SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
@@ -57,9 +56,6 @@ ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
 	set_device_type(DRV_ACC_DEVTYPE_ICM20602);
 	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
 	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
-
-	_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
-	_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
 }
 
 ICM20602::~ICM20602()
@@ -71,12 +67,46 @@ ICM20602::~ICM20602()
 	}
 
 	perf_free(_transfer_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
 	perf_free(_drdy_interval_perf);
 }
 
+void ICM20602::ConfigureSampleRate(int sample_rate)
+{
+	if (sample_rate == 0) {
+		sample_rate = 1000; // default to 1 kHz
+	}
+
+	sample_rate = math::constrain(sample_rate, 250, 2000); // limit 250 - 2000 Hz
+
+	_fifo_empty_interval_us = math::max(((1000000 / sample_rate) / 250) * 250, 500); // round down to nearest 250 us
+	_fifo_gyro_samples = math::min(_fifo_empty_interval_us / (1000000 / GYRO_RATE), FIFO_MAX_SAMPLES);
+
+	// recompute FIFO empty interval (us) with actual gyro sample limit
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1000000 / GYRO_RATE);
+
+	_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1000000 / ACCEL_RATE), FIFO_MAX_SAMPLES);
+
+	_px4_accel.set_update_rate(1000000 / _fifo_empty_interval_us);
+	_px4_gyro.set_update_rate(1000000 / _fifo_empty_interval_us);
+
+	// FIFO watermark threshold in number of bytes
+	const uint16_t fifo_watermark_threshold = _fifo_gyro_samples * sizeof(FIFO::DATA);
+
+	for (auto &r : _register_cfg) {
+		if (r.reg == Register::FIFO_WM_TH1) {
+			r.set_bits = (fifo_watermark_threshold >> 8) & 0b00000011;
+
+		} else if (r.reg == Register::FIFO_WM_TH2) {
+			r.set_bits = fifo_watermark_threshold & 0xFF;
+		}
+	}
+}
+
 int ICM20602::probe()
 {
 	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
@@ -96,11 +126,6 @@ bool ICM20602::Init()
 		return false;
 	}
 
-	if (!Reset()) {
-		PX4_ERR("reset failed");
-		return false;
-	}
-
 	// allocate DMA capable buffer
 	_dma_data_buffer = (uint8_t *)board_dma_alloc(FIFO::SIZE);
 
@@ -109,6 +134,11 @@ bool ICM20602::Init()
 		return false;
 	}
 
+	if (!Reset()) {
+		PX4_ERR("reset failed");
+		return false;
+	}
+
 	Start();
 
 	return true;
@@ -117,64 +147,142 @@ bool ICM20602::Init()
 bool ICM20602::Reset()
 {
 	// PWR_MGMT_1: Device Reset
-	// CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
 	RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
-	usleep(1000);
 
-	// PWR_MGMT_1: CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
+	for (int i = 0; i < 100; i++) {
-	RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
+		// The reset value is 0x00 for all registers other than the registers below
-	usleep(1000);
+		//  Document Number: DS-000176 Page 31 of 57
+		if ((RegisterRead(Register::WHO_AM_I) == WHOAMI)
+		    && (RegisterRead(Register::PWR_MGMT_1) == 0x41)
+		    && (RegisterRead(Register::CONFIG) == 0x80)) {
+			return true;
+		}
+	}
 
-	// ACCEL_CONFIG: Accel 16 G range
+	return false;
-	RegisterSetBits(Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G);
+}
+
+void ICM20602::ConfigureAccel()
+{
+	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
+
+	switch (ACCEL_FS_SEL) {
+	case ACCEL_FS_SEL_2G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384);
+		_px4_accel.set_range(2 * CONSTANTS_ONE_G);
+		break;
+
+	case ACCEL_FS_SEL_4G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192);
+		_px4_accel.set_range(4 * CONSTANTS_ONE_G);
+		break;
+
+	case ACCEL_FS_SEL_8G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096);
+		_px4_accel.set_range(8 * CONSTANTS_ONE_G);
+		break;
+
+	case ACCEL_FS_SEL_16G:
 		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
-	_px4_accel.set_range(16.0f * CONSTANTS_ONE_G);
+		_px4_accel.set_range(16 * CONSTANTS_ONE_G);
+		break;
+	}
+}
 
-	// GYRO_CONFIG: Gyro 2000 degrees/second
+void ICM20602::ConfigureGyro()
-	RegisterSetBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FS_SEL_2000_DPS);
+{
+	const uint8_t FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
+
+	switch (FS_SEL) {
+	case FS_SEL_250_DPS:
+		_px4_gyro.set_scale(math::radians(1.0f / 131.f));
+		_px4_gyro.set_range(math::radians(250.f));
+		break;
+
+	case FS_SEL_500_DPS:
+		_px4_gyro.set_scale(math::radians(1.0f / 65.5f));
+		_px4_gyro.set_range(math::radians(500.f));
+		break;
+
+	case FS_SEL_1000_DPS:
+		_px4_gyro.set_scale(math::radians(1.0f / 32.8f));
+		_px4_gyro.set_range(math::radians(1000.0f));
+		break;
+
+	case FS_SEL_2000_DPS:
 		_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
 		_px4_gyro.set_range(math::radians(2000.0f));
-
+		break;
-	// reset done once data is ready
+	}
-	const bool reset_done = !(RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::DEVICE_RESET);
-	const bool clksel_done = (RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::CLKSEL_0);
-	const bool data_ready = (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::DATA_RDY_INT);
-
-	return reset_done && clksel_done && data_ready;
 }
 
 void ICM20602::ResetFIFO()
 {
 	perf_count(_fifo_reset_perf);
 
-	// ACCEL_CONFIG2: Accel DLPF disabled for full rate (4 kHz)
+	// USER_CTRL: disable FIFO and reset all signal paths
-	RegisterSetBits(Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF);
+	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST,
-
+				USER_CTRL_BIT::FIFO_EN);
-	// GYRO_CONFIG: Gyro DLPF disabled for full rate (8 kHz)
-	RegisterClearBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF);
-
-	// FIFO_EN: disable FIFO
-	RegisterWrite(Register::FIFO_EN, 0);
-	RegisterClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::FIFO_RST);
-
-	// USER_CTRL: reset FIFO then re-enable
-	RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST);
-	up_udelay(1); // bit auto clears after one clock cycle of the internal 20 MHz clock
-	RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN);
-
-	// CONFIG: User should ensure that bit 7 of register 0x1A (Register::CONFIG) is set to 0 before using watermark feature
-	RegisterClearBits(Register::CONFIG, Bit7);
-	RegisterSetBits(Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ);
-
-	// FIFO Watermark
-	static constexpr uint8_t fifo_watermark = 8 * sizeof(FIFO::DATA);
-	static_assert(fifo_watermark < UINT8_MAX);
-	RegisterWrite(Register::FIFO_WM_TH1, 0);
-	RegisterWrite(Register::FIFO_WM_TH2, fifo_watermark);
 
 	// FIFO_EN: enable both gyro and accel
-	RegisterWrite(Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN);
+	RegisterSetBits(Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN);
-	up_udelay(10);
+
+	// USER_CTRL: re-enable FIFO
+	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN,
+				USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST);
+}
+
+bool ICM20602::Configure(bool notify)
+{
+	bool success = true;
+
+	for (const auto &reg : _register_cfg) {
+		if (!CheckRegister(reg, notify)) {
+			success = false;
+		}
+	}
+
+	return success;
+}
+
+bool ICM20602::CheckRegister(const register_config_t &reg_cfg, bool notify)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && !(reg_value & reg_cfg.set_bits)) {
+		if (notify) {
+			PX4_ERR("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		}
+
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && (reg_value & reg_cfg.clear_bits)) {
+		if (notify) {
+			PX4_ERR("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		}
+
+		success = false;
+	}
+
+	if (!success) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+
+		if (reg_cfg.reg == Register::ACCEL_CONFIG) {
+			ConfigureAccel();
+
+		} else if (reg_cfg.reg == Register::GYRO_CONFIG) {
+			ConfigureGyro();
+		}
+
+		if (notify) {
+			perf_count(_bad_register_perf);
+		}
+	}
+
+	return success;
 }
 
 uint8_t ICM20602::RegisterRead(Register reg)
@@ -191,24 +299,30 @@ void ICM20602::RegisterWrite(Register reg, uint8_t value)
 	transfer(cmd, cmd, sizeof(cmd));
 }
 
+void ICM20602::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+	uint8_t val = orig_val;
+
+	if (setbits) {
+		val |= setbits;
+	}
+
+	if (clearbits) {
+		val &= ~clearbits;
+	}
+
+	RegisterWrite(reg, val);
+}
+
 void ICM20602::RegisterSetBits(Register reg, uint8_t setbits)
 {
-	uint8_t val = RegisterRead(reg);
+	RegisterSetAndClearBits(reg, setbits, 0);
-
-	if (!(val & setbits)) {
-		val |= setbits;
-		RegisterWrite(reg, val);
-	}
 }
 
 void ICM20602::RegisterClearBits(Register reg, uint8_t clearbits)
 {
-	uint8_t val = RegisterRead(reg);
+	RegisterSetAndClearBits(reg, 0, clearbits);
-
-	if (val & clearbits) {
-		val &= !clearbits;
-		RegisterWrite(reg, val);
-	}
 }
 
 int ICM20602::DataReadyInterruptCallback(int irq, void *context, void *arg)
@@ -222,108 +336,136 @@ void ICM20602::DataReady()
 {
 	perf_count(_drdy_interval_perf);
 
-	_time_data_ready = hrt_absolute_time();
-
 	// make another measurement
 	ScheduleNow();
 }
 
 void ICM20602::Start()
 {
-	Stop();
+	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 
-	ResetFIFO();
+	// attempt to configure 3 times
+	for (int i = 0; i < 3; i++) {
+		if (Configure(false)) {
+			break;
+		}
+	}
 
 	// TODO: cleanup horrible DRDY define mess
 #if defined(GPIO_DRDY_PORTC_PIN14)
+	_using_data_ready_interrupt_enabled = true;
 	// Setup data ready on rising edge
 	px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
-	RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_SPI1_DRDY1_ICM20602)
+	_using_data_ready_interrupt_enabled = true;
 	// Setup data ready on rising edge
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
-	RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_SPI1_DRDY4_ICM20602)
+	_using_data_ready_interrupt_enabled = true;
 	// Setup data ready on rising edge
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY4_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
-	RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_SPI1_DRDY1_ICM20602)
+	_using_data_ready_interrupt_enabled = true;
 	// Setup data ready on rising edge
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
-	RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_DRDY_ICM_2060X)
+	_using_data_ready_interrupt_enabled = true;
 	// Setup data ready on rising edge
 	px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
-	RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #else
-	ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
+	_using_data_ready_interrupt_enabled = false;
+	ScheduleOnInterval(FIFO_EMPTY_INTERVAL_US, FIFO_EMPTY_INTERVAL_US);
 #endif
+
+	ResetFIFO();
+
+	// schedule as watchdog
+	if (_using_data_ready_interrupt_enabled) {
+		ScheduleDelayed(100_ms);
+	}
 }
 
 void ICM20602::Stop()
 {
+	Reset();
+
 	// TODO: cleanup horrible DRDY define mess
 #if defined(GPIO_DRDY_PORTC_PIN14)
 	// Disable data ready callback
 	px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, false, false, false, nullptr, nullptr);
-	RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_SPI1_DRDY1_ICM20602)
 	// Disable data ready callback
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, false, false, false, nullptr, nullptr);
-	RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_SPI1_DRDY4_ICM20602)
 	// Disable data ready callback
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY4_ICM20602, false, false, false, nullptr, nullptr);
-	RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_SPI1_DRDY1_ICM20602)
 	// Disable data ready callback
 	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, false, false, false, nullptr, nullptr);
-	RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
 #elif defined(GPIO_DRDY_ICM_2060X)
 	// Disable data ready callback
 	px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, false, false, false, nullptr, nullptr);
-	RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
-#else
-	ScheduleClear();
 #endif
+
+	ScheduleClear();
 }
 
 void ICM20602::Run()
 {
-	// use timestamp from the data ready interrupt if available,
+	// use the time now roughly corresponding with the last sample we'll pull from the FIFO
-	//  otherwise use the time now roughly corresponding with the last sample we'll pull from the FIFO
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
-	const hrt_abstime timestamp_sample = (hrt_elapsed_time(&_time_data_ready) < FIFO_INTERVAL) ? _time_data_ready :
-					     hrt_absolute_time();
 
 	// read FIFO count
 	uint8_t fifo_count_buf[3] {};
 	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
-	//const hrt_abstime timestamp_fifo_check = hrt_absolute_time();
 
 	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
-		return;
+		perf_count(_bad_transfer_perf);
 	}
 
-	const size_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
+	if (_using_data_ready_interrupt_enabled) {
-	const int samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
+		// re-schedule as watchdog
+		ScheduleDelayed(100_ms);
+	}
+
+	// check registers
+	if (hrt_elapsed_time(&_last_config_check) > 100_ms) {
+		_checked_register = (_checked_register + 1) % size_register_cfg;
+
+		if (CheckRegister(_register_cfg[_checked_register])) {
+			// delay next register check if current succeeded
+			_last_config_check = hrt_absolute_time();
+
+		} else {
+			// if register check failed reconfigure all
+			Configure();
+			ResetFIFO();
+			return;
+		}
+	}
+
+	const uint16_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
+	const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
 
 	if (samples < 2) {
 		perf_count(_fifo_empty_perf);
 		return;
 
-	} else if (samples > 16) {
+	} else if (samples > FIFO_MAX_SAMPLES) {
-		// not technically an overflow, but more samples than we expected
+		// not technically an overflow, but more samples than we expected or can publish
 		perf_count(_fifo_overflow_perf);
 		ResetFIFO();
+
 		return;
 	}
 
 	// Transfer data
 	struct TransferBuffer {
 		uint8_t cmd;
-		FIFO::DATA f[16]; // max 16 samples
+		FIFO::DATA f[FIFO_MAX_SAMPLES];
 	};
-	static_assert(sizeof(TransferBuffer) == (sizeof(uint8_t) + 16 * sizeof(FIFO::DATA))); // ensure no struct padding
+	// ensure no struct padding
+	static_assert(sizeof(TransferBuffer) == (sizeof(uint8_t) + FIFO_MAX_SAMPLES * sizeof(FIFO::DATA)));
 
 	TransferBuffer *report = (TransferBuffer *)_dma_data_buffer;
 	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
@@ -334,45 +476,76 @@ void ICM20602::Run()
 
 	if (transfer(_dma_data_buffer, _dma_data_buffer, transfer_size) != PX4_OK) {
 		perf_end(_transfer_perf);
+		perf_count(_bad_transfer_perf);
 		return;
 	}
 
 	perf_end(_transfer_perf);
 
+
 	PX4Accelerometer::FIFOSample accel;
 	accel.timestamp_sample = timestamp_sample;
-	accel.dt = FIFO_INTERVAL / FIFO_ACCEL_SAMPLES;
+	accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
+
+	// accel data is doubled in FIFO, but might be shifted
+	int accel_first_sample = 0;
+
+	if (samples >= 3) {
+		if (fifo_accel_equal(report->f[0], report->f[1])) {
+			// [A0, A1, A2, A3]
+			//  A0==A1, A2==A3
+			accel_first_sample = 1;
+
+		} else if (fifo_accel_equal(report->f[1], report->f[2])) {
+			// [A0, A1, A2, A3]
+			//  A0, A1==A2, A3
+			accel_first_sample = 0;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			return;
+		}
+	}
+
+	int accel_samples = 0;
+
+	for (int i = accel_first_sample; i < samples; i = i + 2) {
+		const FIFO::DATA &fifo_sample = report->f[i];
+		int16_t accel_x = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
+		int16_t accel_y = combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
+		int16_t accel_z = combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
+
+		// sensor's frame is +x forward, +y left, +z up, flip y & z to publish right handed (x forward, y right, z down)
+		accel.x[accel_samples] = accel_x;
+		accel.y[accel_samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
+		accel.z[accel_samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
+		accel_samples++;
+	}
+
+	accel.samples = accel_samples;
+
 
 	PX4Gyroscope::FIFOSample gyro;
 	gyro.timestamp_sample = timestamp_sample;
 	gyro.samples = samples;
-	gyro.dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
+	gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
 
-	int accel_samples = 0;
+	int16_t temperature[samples];
-	int16_t temperature[samples] {};
 
 	for (int i = 0; i < samples; i++) {
 		const FIFO::DATA &fifo_sample = report->f[i];
 
-		// accel data is doubled
-		if (i % 2) {
-			// coordinate convention (x forward, y right, z down)
-			accel.x[accel_samples] = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
-			accel.y[accel_samples] = -combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
-			accel.z[accel_samples] = -combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
-
-			accel_samples++;
-		}
-
 		temperature[i] = combine(fifo_sample.TEMP_OUT_H, fifo_sample.TEMP_OUT_L);
 
-		// coordinate convention (x forward, y right, z down)
+		const int16_t gyro_x = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
-		gyro.x[i] = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
+		const int16_t gyro_y = combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
-		gyro.y[i] = -combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
+		const int16_t gyro_z = combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
-		gyro.z[i] = -combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
-	}
 
-	accel.samples = accel_samples;
+		// sensor's frame is +x forward, +y left, +z up, flip y & z to publish right handed (x forward, y right, z down)
+		gyro.x[i] = gyro_x;
+		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
+		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+	}
 
 	// Temperature
 	int32_t temperature_sum{0};
@@ -381,17 +554,18 @@ void ICM20602::Run()
 		temperature_sum += t;
 	}
 
-	const int16_t temperature_avg = temperature_sum / samples;
+	const float temperature_avg = temperature_sum / samples;
 
 	for (auto t : temperature) {
 		// temperature changing wildly is an indication of a transfer error
-		if (abs(t - temperature_avg) > 1000) {
+		if (fabsf(t - temperature_avg) > 1000) {
+			perf_count(_bad_transfer_perf);
 			return;
 		}
 	}
 
 	// use average temperature reading
-	const float temperature_C = temperature_avg / 326.8f + 25.0f;	// 326.8 LSB/C
+	const float temperature_C = temperature_avg / TEMPERATURE_SENSITIVITY + ROOM_TEMPERATURE_OFFSET;
 	_px4_accel.set_temperature(temperature_C);
 	_px4_gyro.set_temperature(temperature_C);
 
@@ -402,7 +576,12 @@ void ICM20602::Run()
 
 void ICM20602::PrintInfo()
 {
+	PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
+		 static_cast<double>(1000000 / _fifo_empty_interval_us));
+
 	perf_print_counter(_transfer_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);

src/drivers/imu/invensense/icm20602/ICM20602.hpp

@@ -50,7 +50,7 @@
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
-using InvenSense_ICM20602::Register;
+using namespace InvenSense_ICM20602;
 
 class ICM20602 : public device::SPI, public px4::ScheduledWorkItem
 {
@@ -65,6 +65,13 @@ public:
 	void PrintInfo();
 
 private:
+
+	struct register_config_t {
+		Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
 	int probe() override;
 
 	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
@@ -72,8 +79,16 @@ private:
 
 	void Run() override;
 
+	void ConfigureSampleRate(int sample_rate);
+	bool CheckRegister(const register_config_t &reg_cfg, bool notify = true);
+	bool Configure(bool notify = true);
+
+	void ConfigureAccel();
+	void ConfigureGyro();
+
 	uint8_t RegisterRead(Register reg);
 	void RegisterWrite(Register reg, uint8_t value);
+	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
 	void RegisterSetBits(Register reg, uint8_t setbits);
 	void RegisterClearBits(Register reg, uint8_t clearbits);
 
@@ -85,10 +100,41 @@ private:
 	PX4Gyroscope _px4_gyro;
 
 	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo reset")};
 	perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
 
-	hrt_abstime _time_data_ready{0};
+	hrt_abstime _last_config_check{0};
+
+	uint8_t _checked_register{0};
+
+	bool _using_data_ready_interrupt_enabled{false};
+
+	// Sensor Configuration
+	static constexpr uint32_t GYRO_RATE{8000};  // 8 kHz gyro
+	static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
+	static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
+
+	uint16_t _fifo_empty_interval_us{1000}; // 1000 us / 1000 Hz transfer interval
+	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
+
+	static constexpr uint8_t size_register_cfg{11};
+	register_config_t _register_cfg[size_register_cfg] {
+		// Register               | Set bits, Clear bits
+		{ Register::PWR_MGMT_1,    PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
+		{ Register::I2C_IF,        I2C_IF_BIT::I2C_IF_DIS, 0 },
+		{ Register::ACCEL_CONFIG,  ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
+		{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
+		{ Register::GYRO_CONFIG,   GYRO_CONFIG_BIT::FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
+		{ Register::CONFIG,        CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, Bit7 | CONFIG_BIT::FIFO_MODE },
+		{ Register::FIFO_WM_TH1,   0, 0 }, // FIFO_WM_TH[9:8]
+		{ Register::FIFO_WM_TH2,   0, 0 }, // FIFO_WM_TH[7:0]
+		{ Register::USER_CTRL,     USER_CTRL_BIT::FIFO_EN, 0 },
+		{ Register::FIFO_EN,       FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN, 0 },
+		{ Register::INT_ENABLE,    INT_ENABLE_BIT::FIFO_OFLOW_EN, INT_ENABLE_BIT::DATA_RDY_INT_EN }
+	};
 };

src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp

@@ -40,6 +40,8 @@
 
 #pragma once
 
+#include <cstdint>
+
 // TODO: move to a central header
 static constexpr uint8_t Bit0 = (1 << 0);
 static constexpr uint8_t Bit1 = (1 << 1);
@@ -58,6 +60,9 @@ static constexpr uint8_t DIR_READ = 0x80;
 
 static constexpr uint8_t WHOAMI = 0x12;
 
+static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
+static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+
 enum class Register : uint8_t {
 	CONFIG        = 0x1A,
 	GYRO_CONFIG   = 0x1B,
@@ -66,10 +71,7 @@ enum class Register : uint8_t {
 
 	FIFO_EN       = 0x23,
 
-	INT_STATUS    = 0x3A,
-
 	INT_ENABLE    = 0x38,
-	FIFO_WM_INT_STATUS = 0x39,
 
 	TEMP_OUT_H    = 0x41,
 	TEMP_OUT_L    = 0x42,
@@ -80,6 +82,8 @@ enum class Register : uint8_t {
 	USER_CTRL     = 0x6A,
 	PWR_MGMT_1    = 0x6B,
 
+	I2C_IF        = 0x70,
+
 	FIFO_COUNTH   = 0x72,
 	FIFO_COUNTL   = 0x73,
 	FIFO_R_W      = 0x74,
@@ -102,7 +106,7 @@ enum GYRO_CONFIG_BIT : uint8_t {
 	FS_SEL_2000_DPS	= Bit4 | Bit3, // 0b11000
 
 	// FCHOICE_B [1:0]
-	FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b10 - 3-dB BW: 3281 Noise BW (Hz): 3451.0   8 kHz
+	FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b00 - 3-dB BW: 3281 Noise BW (Hz): 3451.0   8 kHz
 };
 
 // ACCEL_CONFIG
@@ -131,26 +135,28 @@ enum INT_ENABLE_BIT : uint8_t {
 	DATA_RDY_INT_EN = Bit0
 };
 
-// INT_STATUS
-enum INT_STATUS_BIT : uint8_t {
-	FIFO_OFLOW_INT = Bit4,
-	DATA_RDY_INT   = Bit0,
-};
-
 // USER_CTRL
 enum USER_CTRL_BIT : uint8_t {
 	FIFO_EN      = Bit6,
 	FIFO_RST     = Bit2,
+	SIG_COND_RST = Bit0,
 };
 
 // PWR_MGMT_1
 enum PWR_MGMT_1_BIT : uint8_t {
 	DEVICE_RESET = Bit7,
+	SLEEP        = Bit6,
+
 	CLKSEL_2     = Bit2,
 	CLKSEL_1     = Bit1,
 	CLKSEL_0     = Bit0,
 };
 
+// I2C_IF
+enum I2C_IF_BIT : uint8_t {
+	I2C_IF_DIS = Bit6, // 1 – Disable I2C Slave module and put the serial interface in SPI mode only.
+};
+
 
 namespace FIFO
 {

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -50,12 +50,12 @@ static inline int32_t sum(const int16_t samples[16], uint8_t len)
 	return sum;
 }
 
-static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
+static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
 {
 	unsigned clip_count = 0;
 
 	for (int n = 0; n < len; n++) {
-		if (abs(samples[n]) > clip_limit) {
+		if (abs(samples[n]) >= clip_limit) {
 			clip_count++;
 		}
 	}
@@ -120,7 +120,10 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
 
 void PX4Accelerometer::set_update_rate(uint16_t rate)
 {
+	_update_rate = rate;
 	const uint32_t update_interval = 1000000 / rate;
+
+	// TODO: set this intelligently
 	_integrator_reset_samples = 4000 / update_interval;
 }
 
@@ -144,7 +147,7 @@ void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, fl
 
 	// publish raw data immediately
 	{
-		sensor_accel_s report{};
+		sensor_accel_s report;
 
 		report.timestamp_sample = timestamp_sample;
 		report.device_id = _device_id;
@@ -166,7 +169,7 @@ void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, fl
 	if (_integrator.put(timestamp_sample, val_calibrated, delta_velocity, integral_dt)) {
 
 		// fill sensor_accel_integrated and publish
-		sensor_accel_integrated_s report{};
+		sensor_accel_integrated_s report;
 
 		report.timestamp_sample = timestamp_sample;
 		report.error_count = _error_count;
@@ -208,7 +211,7 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
 		// Apply range scale and the calibrating offset/scale
 		const Vector3f val_calibrated{((Vector3f{x, y, z} * _scale) - _calibration_offset).emult(_calibration_scale)};
 
-		sensor_accel_s report{};
+		sensor_accel_s report;
 
 		report.timestamp_sample = sample.timestamp_sample;
 		report.device_id = _device_id;
@@ -269,7 +272,7 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
 			delta_velocity *= 1e-6f * dt;
 
 			// fill sensor_accel_integrated and publish
-			sensor_accel_integrated_s report{};
+			sensor_accel_integrated_s report;
 
 			report.timestamp_sample = sample.timestamp_sample;
 			report.error_count = _error_count;
@@ -316,13 +319,13 @@ void PX4Accelerometer::PublishStatus()
 {
 	// publish sensor status
 	if (hrt_elapsed_time(&_status_last_publish) >= 100_ms) {
-		sensor_accel_status_s status{};
+		sensor_accel_status_s status;
 
 		status.device_id = _device_id;
 		status.error_count = _error_count;
 		status.full_scale_range = _range;
 		status.rotation = _rotation;
-		status.measure_rate = _update_rate;
+		status.measure_rate_hz = _update_rate;
 		status.temperature = _temperature;
 		status.vibration_metric = _vibration_metric;
 		status.clipping[0] = _clipping[0];
@@ -347,8 +350,8 @@ void PX4Accelerometer::ResetIntegrator()
 
 void PX4Accelerometer::UpdateClipLimit()
 {
-	// 95% of potential max
+	// 99.9% of potential max
-	_clip_limit = (_range / _scale) * 0.95f;
+	_clip_limit = fmaxf((_range / _scale) * 0.999f, INT16_MAX);
 }
 
 void PX4Accelerometer::UpdateVibrationMetrics(const Vector3f &delta_velocity)

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -50,12 +50,12 @@ static inline int32_t sum(const int16_t samples[16], uint8_t len)
 	return sum;
 }
 
-static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
+static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
 {
 	unsigned clip_count = 0;
 
 	for (int n = 0; n < len; n++) {
-		if (abs(samples[n]) > clip_limit) {
+		if (abs(samples[n]) >= clip_limit) {
 			clip_count++;
 		}
 	}
@@ -65,6 +65,7 @@ static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, u
 
 PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
 	CDev(nullptr),
+	ModuleParams(nullptr),
 	_sensor_pub{ORB_ID(sensor_gyro), priority},
 	_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo), priority},
 	_sensor_integrated_pub{ORB_ID(sensor_gyro_integrated), priority},
@@ -74,6 +75,8 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
 	_rotation_dcm{get_rot_matrix(rotation)}
 {
 	_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	updateParams();
 }
 
 PX4Gyroscope::~PX4Gyroscope()
@@ -119,7 +122,10 @@ void PX4Gyroscope::set_device_type(uint8_t devtype)
 
 void PX4Gyroscope::set_update_rate(uint16_t rate)
 {
+	_update_rate = rate;
 	const uint32_t update_interval = 1000000 / rate;
+
+	// TODO: set this intelligently
 	_integrator_reset_samples = 4000 / update_interval;
 }
 
@@ -143,7 +149,7 @@ void PX4Gyroscope::update(hrt_abstime timestamp_sample, float x, float y, float
 
 	// publish raw data immediately
 	{
-		sensor_gyro_s report{};
+		sensor_gyro_s report;
 
 		report.timestamp_sample = timestamp_sample;
 		report.device_id = _device_id;
@@ -165,7 +171,7 @@ void PX4Gyroscope::update(hrt_abstime timestamp_sample, float x, float y, float
 	if (_integrator.put(timestamp_sample, val_calibrated, delta_angle, integral_dt)) {
 
 		// fill sensor_gyro_integrated and publish
-		sensor_gyro_integrated_s report{};
+		sensor_gyro_integrated_s report;
 
 		report.timestamp_sample = timestamp_sample;
 		report.error_count = _error_count;
@@ -207,7 +213,7 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
 		// Apply range scale and the calibration offset
 		const Vector3f val_calibrated{(Vector3f{x, y, z} * _scale) - _calibration_offset};
 
-		sensor_gyro_s report{};
+		sensor_gyro_s report;
 
 		report.timestamp_sample = sample.timestamp_sample;
 		report.device_id = _device_id;
@@ -268,7 +274,7 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
 			delta_angle *= 1e-6f * dt;
 
 			// fill sensor_gyro_integrated and publish
-			sensor_gyro_integrated_s report{};
+			sensor_gyro_integrated_s report;
 
 			report.timestamp_sample = sample.timestamp_sample;
 			report.error_count = _error_count;
@@ -315,13 +321,13 @@ void PX4Gyroscope::PublishStatus()
 {
 	// publish sensor status
 	if (hrt_elapsed_time(&_status_last_publish) >= 100_ms) {
-		sensor_gyro_status_s status{};
+		sensor_gyro_status_s status;
 
 		status.device_id = _device_id;
 		status.error_count = _error_count;
 		status.full_scale_range = _range;
 		status.rotation = _rotation;
-		status.measure_rate = _update_rate;
+		status.measure_rate_hz = _update_rate;
 		status.temperature = _temperature;
 		status.vibration_metric = _vibration_metric;
 		status.coning_vibration = _coning_vibration;
@@ -347,11 +353,10 @@ void PX4Gyroscope::ResetIntegrator()
 
 void PX4Gyroscope::UpdateClipLimit()
 {
-	// 95% of potential max
+	// 99.9% of potential max
-	_clip_limit = (_range / _scale) * 0.95f;
+	_clip_limit = fmaxf((_range / _scale) * 0.999f, INT16_MAX);
 }
 
-
 void PX4Gyroscope::UpdateVibrationMetrics(const Vector3f &delta_angle)
 {
 	// Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -38,6 +38,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <lib/conversion/rotation.h>
 #include <lib/drivers/device/integrator.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/PublicationQueuedMulti.hpp>
 #include <uORB/topics/sensor_gyro.h>
@@ -45,7 +46,7 @@
 #include <uORB/topics/sensor_gyro_integrated.h>
 #include <uORB/topics/sensor_gyro_status.h>
 
-class PX4Gyroscope : public cdev::CDev
+class PX4Gyroscope : public cdev::CDev, public ModuleParams
 {
 public:
 	PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
@@ -55,6 +56,8 @@ public:
 
 	uint32_t get_device_id() const { return _device_id; }
 
+	float get_max_rate_hz() const { return _param_imu_gyro_rate_max.get(); }
+
 	void set_device_id(uint32_t device_id) { _device_id = device_id; }
 	void set_device_type(uint8_t devtype);
 	void set_error_count(uint64_t error_count) { _error_count += error_count; }
@@ -72,9 +75,9 @@ public:
 		uint8_t samples; // number of samples
 		float dt; // in microseconds
 
-		int16_t x[16];
+		int16_t x[32];
-		int16_t y[16];
+		int16_t y[32];
-		int16_t z[16];
+		int16_t z[32];
 	};
 	static_assert(sizeof(FIFOSample::x) == sizeof(sensor_gyro_fifo_s::x), "FIFOSample.x invalid size");
 	static_assert(sizeof(FIFOSample::y) == sizeof(sensor_gyro_fifo_s::y), "FIFOSample.y invalid size");
@@ -131,4 +134,7 @@ private:
 	uint8_t			_integrator_fifo_samples{0};
 	uint8_t			_integrator_clipping{0};
 
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max
+	)
 };