Update to LSM6DSV16X gyro driver #13724
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Do you want to test this code? You can flash it directly from Betaflight Configurator:
WARNING: It may be unstable. Use only for testing! |
haslinghuis
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Jun 25, 2024
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# tasks
Task list rate/hz max/us avg/us maxload avgload total/ms late run reqd/us
00 - ( SYSTEM) 10 1 0 0.0% 0.0% 0 0 26 0
01 - ( SYSTEM) 993 3 0 0.2% 0.0% 20 0 2523 1
02 - ( GYRO) 7616 2 1 1.5% 0.8% 525 0 19339 0
03 - ( FILTER) 7616 11 7 8.3% 5.4% 3245 0 19339 0
04 - ( PID) 7616 23 18 17.5% 13.7% 8428 0 19339 0
05 - ( ACC) 993 3 1 0.2% 0.0% 63 0 2523 2
06 - ( ATTITUDE) 100 6 3 0.0% 0.0% 21 0 253 5
07 - ( RX) 10 10 6 0.0% 0.0% 12 0 78 10
08 - ( SERIAL) 100 2055 0 20.5% 0.0% 157 0 252 44
09 - ( DISPATCH) 994 3 0 0.2% 0.0% 20 0 2523 1
10 - (BATTERY_VOLTAGE) 50 1 1 0.0% 0.0% 2 0 127 0
11 - (BATTERY_CURRENT) 50 1 0 0.0% 0.0% 0 0 127 1
12 - ( BATTERY_ALERTS) 5 1 0 0.0% 0.0% 0 0 13 1
13 - ( BEEPER) 100 1 0 0.0% 0.0% 2 0 252 1
16 - ( BARO) 20 5 1 0.0% 0.0% 10 0 306 3
17 - ( ALTITUDE) 100 1 1 0.0% 0.0% 5 0 252 1
19 - ( OSD) 12 23 15 0.0% 0.0% 137 0 510 23
21 - ( CMS) 20 1 0 0.0% 0.0% 0 0 51 0
22 - ( VTXCTRL) 5 1 0 0.0% 0.0% 0 0 12 0
23 - ( CAMCTRL) 5 1 0 0.0% 0.0% 0 0 12 1
25 - ( ADCINTERNAL) 1 1 0 0.0% 0.0% 0 0 3 1
27 - (SPEED_NEGOTIATION) 100 2 0 0.0% 0.0% 3 0 252 1
RX Check Function 4 1 26
Total (excluding SERIAL) 19.9%
# status
MCU AT32F435 Clock=288MHz, Vref=3.30V, Core temp=37degC
Stack size: 2048, Stack address: 0x2002fff0
Configuration: CONFIGURED, size: 3529, max available: 16384
Devices detected: SPI:1, I2C:1
Gyros detected: gyro 1 locked dma
GYRO=LSM6DSV16X, ACC=LSM6DSV16X, BARO=DPS310
OSD: MAX7456 (30 x 13)
BUILD KEY: aa2e0ef6af1f9b849b2a1102a76c1685 (4.6.0-dev)
System Uptime: 69 seconds, Current Time: 2024-06-25T18:47:01.320+00:00
CPU:20%, cycle time: 132, GYRO rate: 7575, RX rate: 15, System rate: 9
Voltage: 3 * 0.01V (0S battery - NOT PRESENT)
I2C Errors: 0
FLASH: JEDEC ID=0x00ef4018 16M
GPS: NOT ENABLED
Arming disable flags: RXLOSS CLI MSP
blckmn
approved these changes
Jun 25, 2024
ledvinap
approved these changes
Jun 26, 2024
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I did some quick and dirty Floor testing.. so it's no props but I see very good things. I got a difference in noise peek between old and new settings of 18db in scaled gyro and 10db in post 
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sugaarK
approved these changes
Jun 27, 2024
Error in code from STMicro Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
haslinghuis
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Jun 27, 2024
* Enable LPF1_G_EN * Gyro intialisation review input from STMicro * Update src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c Error in code from STMicro Co-authored-by: Petr Ledvina <ledvinap@gmail.com> --------- Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
Tested OK. |
blckmn
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Jun 27, 2024
limonspb
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to limonspb/betaflight
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Jul 14, 2024
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STMicro advised some changes to the driver to get the gyro LPF1 filtering working.
Tested on an
AIRBOTSUPERF4to the extent that the gyro and acceleromter respond. Correct operation of the filters will need flight testing.