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Copter: run rate loop at full filter rate in its own thread #27029
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Commits on Sep 26, 2024
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Copter: run copter attitude control with separate rate thread
run motors output at rate thread loop rate allow rate thread to be enabled/disabled at runtime for in-flight impact testing setup the right PID notch sample rate when using the rate thread the PID notches run at a very different sample rate call update_dynamic_notch_at_specified_rate() in rate thread log RTDT messages to track rate loop performance set dt each cycle of the rate loop thread run rate controller on samples as soon as they are ready detect overload conditions in both the rate loop and main loop decimate the rate thread if the CPU appears overloaded decimate the gyro window inside the IMU add in gyro drift to attitude rate thread add fixed-rate thread option configure rate loop based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED better rate loop thread decimation management ensure fix rate attitude is enabled on arming add rate loop timing debug update backend filters rather than all the backends provide more options around attitude rates only log attitude and IMU from main loop force trigger_groups() and reduce attitude thread priority migrate fast rate enablement to FSTRATE_ENABLE remove rate thread logging configuration and choose sensible logging rates conditionally compile rate thread pieces allow fast rate decimation to be user throttled if target rate changes immediately jump to target rate recover quickly from rate changes ensure fixed rate always prints the rate on arming and is always up to date add support for fixed rate attitude that does not change when disarmed only push to subsystems at main loop rate add logging and motor timing debug correctly round gyro decimation rates set dshot rate when changing attitude rate fallback to higher dshot rates at lower loop rates re-factor rate loop rate updates log rates in systemid mode reset target modifiers at loop rate don't compile in support on tradheli move rate thread into its own compilation unit add rate loop config abstraction that allows code to be elided on non-copter builds dynamically enable/disable rate thread correctly add design comment for the rate thread Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
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AP_AHRS: correct get_accel() to use primary accel rather than first u…
…sable for scripting
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AP_HAL: set HAL_INS_RATE_LOOP in boards
restrict rate loop to H7 and F7
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AP_HAL_ChibiOS: ensure dshot rate can be set dynamically
honour the requested dshot rate as near as possible
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scripts: add AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED to build_op…
…tions.py and extract_features.py
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waf: add rate loop config abstraction that allows code to be elided o…
…n non-copter builds
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AP_InertialSensor: keep a queue of gyro samples for use by the rate t…
…hread decimate the gyro window locally configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED allow backends to be updated from rate thread output debug error if rate loop buffer overruns add support for updating filter parameters independently of propagating samples add rate loop config abstraction that allows code to be elided on non-copter builds must be using harmonic notch to use rate thread mediate fast rate loop buffer using mutex and binary semaphore ensure gyro samples are used when the rate loop buffer isn't Co-Authored-By: Andrew Tridgell <andrew@tridgell.net>
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Commits on Oct 5, 2024
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