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Add 3+ IMU support (Gyro Fusion) (#14383)

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* Allow for 3 gyros to be fused at once.

* Handle the case where no GYRO_COUNT is defined

* Fix accel init bug

* Fix bugs found by AI

* Fix compile time assert message

* Move to picking which IMU you want to enable, allow IMU that have the same scale and looprate to run together even if they aren't identical IMU.

* Fully support 8 IMU

* Fix suggestions, except for MSP all suggestions

* Fix bugs found by AI

* Update gyro_init

* Fix unit tests (feels wrong though)

* Allow MSP to update all gyro alignment

* resolve comments

* Only auto set up to 4 gyros in a config.

* Update MSP implementation

* Fix divide by 0 error

* Update src/main/target/common_post.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Handle case where gyro 1 does not exist

* Fix 426XX driver

* fix = logic in if statement

* Update src/main/msp/msp.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/drivers/accgyro/accgyro_spi_icm426xx.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Apply ledvinap suggestions

* Fix detectedSensors initialization

* fix getGyroDetectedFlags

* Automatically handle GYRO_COUNT for up to 4 IMU

* better handle unit tests

* Backwards compatible with older config.h files

* Update src/main/sensors/gyro_init.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/target/common_pre.h

Co-authored-by: nerdCopter <56646290+nerdCopter@users.noreply.github.com>

* Update src/main/sensors/gyro_init.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/sensors/gyro.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* This needs to be the case or unit tests fail, without this we cannot choose default gyro either.

* ledvinap suggestions

* whitespace

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
Co-authored-by: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
This commit is contained in:
Kevin Plaizier 2025-06-23 13:35:11 -06:00 • committed by GitHub
parent 3370752442
commit 078ffafec1
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GPG key ID: B5690EEEBB952194
19 changed files with 495 additions and 381 deletions
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16
src/main/cli/cli.c
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@ -3675,18 +3675,12 @@ static void cliDumpGyroRegisters(const char *cmdName, char *cmdline)
UNUSED(cmdName);
UNUSED(cmdline);
#ifdef USE_MULTI_GYRO
if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
cliPrintLinef("\r\n# Gyro 1");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
for (int i = 0; i < GYRO_COUNT; i++) {
if (gyroConfig()->gyro_enabled_bitmask & GYRO_MASK(i)) {
cliPrintLinef("\r\n# Gyro %d", i + 1);
cliPrintGyroRegisters(i); // assuming this takes a 0-based gyro index
}
}
if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
cliPrintLinef("\r\n# Gyro 2");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_2);
}
#else
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
#endif
}
#endif