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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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19 changed files with 495 additions and 381 deletions
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10
src/main/sensors/acceleration_init.c
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@ -367,15 +367,9 @@ bool accInit(uint16_t accSampleRateHz)
// Copy alignment from active gyro, as all production boards use acc-gyro-combi chip.
// Exception is STM32F411DISCOVERY, and (may be) handled in future enhancement.
sensor_align_e alignment = gyroDeviceConfig(0)->alignment;
const sensorAlignment_t* customAlignment = &gyroDeviceConfig(0)->customAlignment;
sensor_align_e alignment = gyroDeviceConfig(firstEnabledGyro())->alignment;
const sensorAlignment_t* customAlignment = &gyroDeviceConfig(firstEnabledGyro())->customAlignment;
#ifdef USE_MULTI_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) {
alignment = gyroDeviceConfig(1)->alignment;
customAlignment = &gyroDeviceConfig(1)->customAlignment;
}
#endif
acc.dev.accAlign = alignment;
buildRotationMatrixFromAngles(&acc.dev.rotationMatrix, customAlignment);