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AP_InertialSensor: Clearly state the maximum G-force #27424

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merged 1 commit into from
Jul 10, 2024
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AP_InertialSensor: Clearly state the maximum G-force #27424

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7 changes: 4 additions & 3 deletions libraries/AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ bool AP_InertialSensor_ADIS1647x::check_product_id(uint16_t &prod_id)
// can do up to 40G
opmode = OpMode::Basic;
accel_scale = 1.25 * GRAVITY_MSS * 0.001;
_clip_limit = 39.5f * GRAVITY_MSS;
_clip_limit = (40.0f - 0.5f) * GRAVITY_MSS;
gyro_scale = radians(0.1);
expected_sample_rate_hz = 2000;
return true;
Expand All @@ -146,7 +146,7 @@ bool AP_InertialSensor_ADIS1647x::check_product_id(uint16_t &prod_id)
// can do up to 40G
opmode = OpMode::Basic;
accel_scale = 1.25 * GRAVITY_MSS * 0.001;
_clip_limit = 39.5f * GRAVITY_MSS;
_clip_limit = (40.0f - 0.5f) * GRAVITY_MSS;
expected_sample_rate_hz = 2000;
// RANG_MDL register used for gyro range
uint16_t rang_mdl = read_reg16(REG_RANG_MDL);
Expand All @@ -167,11 +167,12 @@ bool AP_InertialSensor_ADIS1647x::check_product_id(uint16_t &prod_id)
}

case PROD_ID_16507: {
// can do up to 40G
opmode = OpMode::Delta32;
expected_sample_rate_hz = 1200;
accel_scale = 392.0 / 2097152000.0;
dvel_scale = 400.0 / 0x7FFFFFFF;
_clip_limit = 39.5f * GRAVITY_MSS;
_clip_limit = (40.0f - 0.5f) * GRAVITY_MSS;
// RANG_MDL register used for gyro range
uint16_t rang_mdl = read_reg16(REG_RANG_MDL);
switch ((rang_mdl >> 2) & 3) {
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2 changes: 1 addition & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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Expand Up @@ -139,7 +139,7 @@ class AP_InertialSensor_Backend
HAL_Semaphore _sem;

//Default Clip Limit
float _clip_limit = 15.5f * GRAVITY_MSS;
float _clip_limit = (16.0f - 0.5f) * GRAVITY_MSS;

// instance numbers of accel and gyro data
uint8_t gyro_instance;
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2 changes: 1 addition & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp
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Expand Up @@ -1037,7 +1037,7 @@ bool AP_InertialSensor_Invensensev3::hardware_init(void)
case Invensensev3_Type::ICM42605:
case Invensensev3_Type::ICM40605:
case Invensensev3_Type::ICM42670:
_clip_limit = 15.5f * GRAVITY_MSS;
_clip_limit = (16.0f - 0.5f) * GRAVITY_MSS;
break;
}

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