IMU_GYRO_RATEMAX set system default to 400 Hz

- MC default is still 800 Hz

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -117,49 +117,49 @@ if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
-	param set BAT_N_CELLS 4
-
 	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644
 
-	param set CBRK_AIRSPD_CHK 0
-	param set CBRK_SUPPLY_CHK 894281
-
-	# Don't require RC calibration and configuration
-	param set COM_RC_IN_MODE 1
-
-	# Speedup SITL startup
-	param set EKF2_REQ_GPS_H 0.5
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
-
-	# By default log from boot until first disarm.
-	param set SDLOG_MODE 1
-	# enable default, estimator replay and vision/avoidance logging profiles
-	param set SDLOG_PROFILE 131
-	param set SDLOG_DIRS_MAX 7
-	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-	param set SYS_RESTART_TYPE 2
 
-	param set TRIG_INTERFACE 3
+	param set SYS_RESTART_TYPE 2
 fi
 
-param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
+param set-default BAT_N_CELLS 4
 
-# Simulator IMU data provided at 250 Hz
+param set-default CBRK_AIRSPD_CHK 0
-param set IMU_INTEG_RATE 250
+param set-default CBRK_SUPPLY_CHK 894281
+
+# disable check, no CPU load reported on posix yet
+param set-default COM_CPU_MAX -1
+
+# Don't require RC calibration and configuration
+param set-default COM_RC_IN_MODE 1
+
+# Speedup SITL startup
+param set-default EKF2_REQ_GPS_H 0.5
+
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0
+
+# By default log from boot until first disarm.
+param set-default SDLOG_MODE 1
+# enable default, estimator replay and vision/avoidance logging profiles
+param set-default SDLOG_PROFILE 131
+param set-default SDLOG_DIRS_MAX 7
+
+param set-default TRIG_INTERFACE 3
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -206,6 +206,9 @@ then
 	param set SYS_AUTOCONFIG 0
 fi
 
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -21,11 +21,8 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-
-
 param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20
-param set-default IMU_GYRO_RATEMAX 400
 
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,6 +7,8 @@
 
 set VEHICLE_TYPE mc
 
+param set-default IMU_GYRO_RATEMAX 800
+
 param set-default NAV_ACC_RAD 2
 
 param set-default RTL_RETURN_ALT 30

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -7,9 +7,6 @@
 
 set VEHICLE_TYPE vtol
 
-# to minimize cpu usage on older boards limit inner loop to 400 Hz
-param set-default IMU_GYRO_RATEMAX 400
-
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10
 

boards/mro/x21/init/rc.board_defaults

@@ -2,6 +2,3 @@
 #
 # mRo x21 specific board defaults
 #------------------------------------------------------------------------------
-
-# to minimize cpu usage on older boards limit inner loop to 400 Hz by default
-param set-default IMU_GYRO_RATEMAX 400

boards/px4/fmu-v2/init/rc.board_defaults

@@ -21,6 +21,3 @@ then
 	fi
 fi
 unset BL_FILE
-
-# to minimize cpu usage on older boards limit inner loop to 400 Hz by default
-param set-default IMU_GYRO_RATEMAX 400

boards/px4/fmu-v3/init/rc.board_defaults

@@ -21,6 +21,3 @@ then
 	fi
 fi
 unset BL_FILE
-
-# to minimize cpu usage on older boards limit inner loop to 400 Hz by default
-param set-default IMU_GYRO_RATEMAX 400

posix-configs/rpi/px4.config

@@ -12,7 +12,6 @@ fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
-param set IMU_GYRO_RATEMAX 400
 
 # Multi-EKF
 param set EKF2_MULTI_IMU 2

posix-configs/rpi/px4_fw.config

@@ -12,7 +12,6 @@ fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
-param set IMU_GYRO_RATEMAX 400
 
 # Multi-EKF
 param set EKF2_MULTI_IMU 2

posix-configs/rpi/px4_test.config

@@ -12,7 +12,6 @@ fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
-param set IMU_GYRO_RATEMAX 400
 
 # Multi-EKF
 param set EKF2_MULTI_IMU 2

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -267,10 +267,6 @@ void BMI055_Accelerometer::ConfigureAccel()
 
 void BMI055_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -265,10 +265,6 @@ void BMI055_Gyroscope::ConfigureGyro()
 
 void BMI055_Gyroscope::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -300,10 +300,6 @@ void BMI088_Accelerometer::ConfigureAccel()
 
 void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -266,10 +266,6 @@ void BMI088_Gyroscope::ConfigureGyro()
 
 void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp

@@ -228,10 +228,6 @@ void BMI088_Accelerometer::ConfigureAccel()
 
 void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp

@@ -211,10 +211,6 @@ void BMI088_Gyroscope::ConfigureGyro()
 
 void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 2000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

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

@@ -335,10 +335,6 @@ void ICM20602::ConfigureGyro()
 
 void ICM20602::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -331,10 +331,6 @@ void ICM20608G::ConfigureGyro()
 
 void ICM20608G::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -332,10 +332,6 @@ void ICM20649::ConfigureGyro()
 
 void ICM20649::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to ~800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -331,10 +331,6 @@ void ICM20689::ConfigureGyro()
 
 void ICM20689::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -368,10 +368,6 @@ void ICM20948::ConfigureGyro()
 
 void ICM20948::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to ~800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -338,10 +338,6 @@ void ICM40609D::ConfigureGyro()
 
 void ICM40609D::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm42605/ICM42605.cpp

@@ -339,10 +339,6 @@ void ICM42605::ConfigureGyro()
 
 void ICM42605::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -275,10 +275,6 @@ void ICM42688P::RunImpl()
 
 void ICM42688P::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -331,10 +331,6 @@ void MPU6000::ConfigureGyro()
 
 void MPU6000::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT * 4; // limit to 2 kHz (500 us interval)
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -331,10 +331,6 @@ void MPU6500::ConfigureGyro()
 
 void MPU6500::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -365,10 +365,6 @@ void MPU9250::ConfigureGyro()
 
 void MPU9250::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp

@@ -332,10 +332,6 @@ void MPU9250_I2C::ConfigureGyro()
 
 void MPU9250_I2C::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1000 Hz
-	}
-
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
 	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -239,10 +239,6 @@ void LSM9DS1::RunImpl()
 
 void LSM9DS1::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
-		sample_rate = ST_LSM9DS1::LA_ODR;
-	}
-
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);

src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c

@@ -90,8 +90,8 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
 *
 * @min 0
 * @max 2000
-* @value 0 0 (no limit)
+* @value 0 0 (driver minimum)
-* @value 50 50 Hz
+* @value 100 100 Hz
 * @value 250 250 Hz
 * @value 400 400 Hz
 * @value 1000 1000 Hz
@@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
 * @reboot_required true
 * @group Sensors
 */
-PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
+PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400);
 
 /**
 * Cutoff frequency for angular acceleration (D-Term filter)