sensors: add parameter to silence imu clipping

PX4 · Nov 28, 2023 · 59abab8 · 59abab8
1 parent a9213e3
commit 59abab8
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Showing 7 changed files with 25 additions and 3 deletions.
diff --git a/boards/ark/can-flow/init/rc.board_sensors b/boards/ark/can-flow/init/rc.board_sensors
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------
 
 param set-default IMU_GYRO_RATEMAX 1000
+param set-default SENS_IMU_CLPNOTI 0
 
 # Internal SPI
 if ! paw3902 -s start -Y 180

diff --git a/boards/ark/can-gps/init/rc.board_defaults b/boards/ark/can-gps/init/rc.board_defaults
@@ -5,6 +5,7 @@
 
 param set-default CBRK_IO_SAFETY 0
 param set-default MBE_ENABLE 1
+param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start
diff --git a/boards/ark/can-rtk-gps/init/rc.board_defaults b/boards/ark/can-rtk-gps/init/rc.board_defaults
@@ -7,6 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default MBE_ENABLE 1
+param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start
diff --git a/boards/ark/cannode/init/rc.board_defaults b/boards/ark/cannode/init/rc.board_defaults
@@ -3,6 +3,8 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default SENS_IMU_CLPNOTI 0
+
 pwm_out start
 
 dshot start
diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
@@ -70,6 +70,8 @@ VehicleIMU::VehicleIMU(int instance, uint8_t accel_index, uint8_t gyro_index, co
 	_sensor_gyro_sub.set_required_updates(sensor_gyro_s::ORB_QUEUE_LENGTH / 2);
 #endif
 
+	_notify_clipping = _param_sens_imu_notify_clipping.get();
+
 	// advertise immediately to ensure consistent ordering
 	_vehicle_imu_pub.advertise();
 	_vehicle_imu_status_pub.advertise();
@@ -374,7 +376,7 @@ bool VehicleIMU::UpdateAccel()
 
 			_publish_status = true;
 
-			if (_accel_calibration.enabled() && (hrt_elapsed_time(&_last_accel_clipping_notify_time) > 3_s)) {
+			if (_notify_clipping && _accel_calibration.enabled() && (hrt_elapsed_time(&_last_accel_clipping_notify_time) > 3_s)) {
 				// start notifying the user periodically if there's significant continuous clipping
 				const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
 
@@ -503,7 +505,7 @@ bool VehicleIMU::UpdateGyro()
 
 			_publish_status = true;
 
-			if (_gyro_calibration.enabled() && (hrt_elapsed_time(&_last_gyro_clipping_notify_time) > 3_s)) {
+			if (_notify_clipping && _gyro_calibration.enabled() && (hrt_elapsed_time(&_last_gyro_clipping_notify_time) > 3_s)) {
 				// start notifying the user periodically if there's significant continuous clipping
 				const uint64_t clipping_total = _status.gyro_clipping[0] + _status.gyro_clipping[1] + _status.gyro_clipping[2];
 

diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp
@@ -158,6 +158,8 @@ class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem
 	uint8_t     _delta_angle_clipping{0};
 	uint8_t     _delta_velocity_clipping{0};
 
+	bool _notify_clipping{true};
+
 	hrt_abstime _last_accel_clipping_notify_time{0};
 	hrt_abstime _last_gyro_clipping_notify_time{0};
 
@@ -198,7 +200,8 @@ class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
-		(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal
+		(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal,
+		(ParamBool<px4::params::SENS_IMU_CLPNOTI>) _param_sens_imu_notify_clipping
 	)
 };
 

diff --git a/src/modules/sensors/vehicle_imu/imu_parameters.c b/src/modules/sensors/vehicle_imu/imu_parameters.c
@@ -60,3 +60,15 @@ PARAM_DEFINE_INT32(IMU_INTEG_RATE, 200);
  * @group Sensors
  */
 PARAM_DEFINE_INT32(SENS_IMU_AUTOCAL, 1);
+
+/**
+ * IMU notify clipping
+ *
+ * Notify the user if the IMU is clipping
+ *
+ * @boolean
+ *
+ * @category system
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(SENS_IMU_CLPNOTI, 1);