AP_InertialSensor: fetch samples at max rate in invensensev3 #24787
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andyp1per
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Aug 28, 2023
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we use the instance numbers during filter configuration to check if fast sampling is enabled. We need to ensure these instance numbers have been setup before the filtering functions get called
we need to rotate the data so that FFT displays match the configured orientation
this makes the v3 driver match the v2 driver by fetching samples on the bus at the maximum rate when fast sampling is enabled. This should reduce the chance of aliasing for high frequency noise
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This changes the Invensensev3 driver to fetch samples at the max ODR, then downsample to the desired backend rate. This is the strategy used for the v2 driver.
The motivation is a set of logs that seems to show aliasing in the gyro signal on the ICM-42688 (first IMU in this graph)
this implies that the internal filter in the ICM-42688 is not doing a good job of preventing gyro aliasing.
This PR also fixes 2 bugs found while making the change: