Merge pull request #6846 from iNavFlight/dzikuvx-drop-gyro-sync

Drop gyro_sync

docs/Settings.md

@@ -158,7 +158,6 @@
 | gyro_notch_hz | 0 |  |
 | gyro_stage2_lowpass_hz | 0 | Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz) |
 | gyro_stage2_lowpass_type | BIQUAD | Defines the type of stage 2 gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. |
-| gyro_sync | ON | This option enables gyro_sync feature. In this case the loop will be synced to gyro refresh rate. Loop will always wait for the newest gyro measurement. Maximum gyro refresh rate is determined by gyro_hardware_lpf |
 | gyro_to_use | 0 |  |
 | gyro_use_dyn_lpf | OFF | Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. |
 | has_flaps | OFF | Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot |

src/main/fc/config.c

@@ -294,10 +294,6 @@ void validateAndFixConfig(void)
     }
 #endif
 
-#if !defined(USE_MPU_DATA_READY_SIGNAL)
-    gyroConfigMutable()->gyroSync = false;
-#endif
-
     // Call target-specific validation function
     validateAndFixTargetConfig();
 

src/main/fc/fc_core.c

@@ -101,9 +101,6 @@ enum {
     ALIGN_MAG = 2
 };
 
-#define GYRO_WATCHDOG_DELAY                 100 // Watchdog for boards without interrupt for gyro
-#define GYRO_SYNC_MAX_CONSECUTIVE_FAILURES  100 // After this many consecutive missed interrupts disable gyro sync and fall back to scheduled updates
-
 #define EMERGENCY_ARMING_TIME_WINDOW_MS 10000
 #define EMERGENCY_ARMING_COUNTER_STEP_MS 100
 
@@ -129,7 +126,6 @@ int16_t headFreeModeHold;
 uint8_t motorControlEnable = false;
 
 static bool isRXDataNew;
-static uint32_t gyroSyncFailureCount;
 static disarmReason_t lastDisarmReason = DISARM_NONE;
 timeUs_t lastDisarmTimeUs = 0;
 static emergencyArmingState_t emergencyArming;
@@ -809,36 +805,17 @@ void processRx(timeUs_t currentTimeUs)
 
 // Function for loop trigger
 void FAST_CODE taskGyro(timeUs_t currentTimeUs) {
+    UNUSED(currentTimeUs);
     // getTaskDeltaTime() returns delta time frozen at the moment of entering the scheduler. currentTime is frozen at the very same point.
     // To make busy-waiting timeout work we need to account for time spent within busy-waiting loop
     const timeDelta_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
-    timeUs_t gyroUpdateUs = currentTimeUs;
-
-    if (gyroConfig()->gyroSync) {
-        while (true) {
-            gyroUpdateUs = micros();
-            if (gyroSyncCheckUpdate()) {
-                gyroSyncFailureCount = 0;
-                break;
-            }
-            else if ((currentDeltaTime + cmpTimeUs(gyroUpdateUs, currentTimeUs)) >= (timeDelta_t)(getLooptime() + GYRO_WATCHDOG_DELAY)) {
-                gyroSyncFailureCount++;
-                break;
-            }
-        }
-
-        // If we detect gyro sync failure - disable gyro sync
-        if (gyroSyncFailureCount > GYRO_SYNC_MAX_CONSECUTIVE_FAILURES) {
-            gyroConfigMutable()->gyroSync = false;
-        }
-    }
 
     /* Update actual hardware readings */
     gyroUpdate();
 
 #ifdef USE_OPFLOW
     if (sensors(SENSOR_OPFLOW)) {
-        opflowGyroUpdateCallback((timeUs_t)currentDeltaTime + (gyroUpdateUs - currentTimeUs));
+        opflowGyroUpdateCallback(currentDeltaTime);
     }
 #endif
 }

src/main/fc/fc_msp.c

@@ -1229,7 +1229,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
         sbufWriteU16(dst, motorConfig()->motorPwmRate);
         sbufWriteU16(dst, servoConfig()->servoPwmRate);
-        sbufWriteU8(dst, gyroConfig()->gyroSync);
+        sbufWriteU8(dst, 0);
         break;
 
     case MSP_FILTER_CONFIG :
@@ -2163,7 +2163,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             motorConfigMutable()->motorPwmProtocol = sbufReadU8(src);
             motorConfigMutable()->motorPwmRate = sbufReadU16(src);
             servoConfigMutable()->servoPwmRate = sbufReadU16(src);
-            gyroConfigMutable()->gyroSync = sbufReadU8(src);
+            sbufReadU8(src);    //Was gyroSync
         } else
             return MSP_RESULT_ERROR;
         break;

src/main/fc/settings.yaml

@@ -179,11 +179,6 @@ groups:
         description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible."
         default_value: 1000
         max: 9000
-      - name: gyro_sync
-        description: "This option enables gyro_sync feature. In this case the loop will be synced to gyro refresh rate. Loop will always wait for the newest gyro measurement. Maximum gyro refresh rate is determined by gyro_hardware_lpf"
-        default_value: ON
-        field: gyroSync
-        type: bool
       - name: align_gyro
         description: "When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP."
         default_value: "DEFAULT"

src/main/sensors/gyro.c

@@ -104,7 +104,7 @@ EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
 
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 11);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 12);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
@@ -113,7 +113,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_align = SETTING_ALIGN_GYRO_DEFAULT,
     .gyroMovementCalibrationThreshold = SETTING_MORON_THRESHOLD_DEFAULT,
     .looptime = SETTING_LOOPTIME_DEFAULT,
-    .gyroSync = SETTING_GYRO_SYNC_DEFAULT,
 #ifdef USE_DUAL_GYRO
     .gyro_to_use = SETTING_GYRO_TO_USE_DEFAULT,
 #endif
@@ -318,7 +317,7 @@ bool gyroInit(void)
     gyroDev[0].initFn(&gyroDev[0]);
 
     // initFn will initialize sampleRateIntervalUs to actual gyro sampling rate (if driver supports it). Calculate target looptime using that value
-    gyro.targetLooptime = gyroConfig()->gyroSync ? gyroDev[0].sampleRateIntervalUs : gyroConfig()->looptime;
+    gyro.targetLooptime = gyroDev[0].sampleRateIntervalUs;
 
     // At this poinrt gyroDev[0].gyroAlign was set up by the driver from the busDev record
     // If configuration says different - override
@@ -518,19 +517,6 @@ int16_t gyroRateDps(int axis)
     return lrintf(gyro.gyroADCf[axis]);
 }
 
-bool gyroSyncCheckUpdate(void)
-{
-    if (!gyro.initialized) {
-        return false;
-    }
-
-    if (!gyroDev[0].intStatusFn) {
-        return false;
-    }
-
-    return gyroDev[0].intStatusFn(&gyroDev[0]);
-}
-
 void gyroUpdateDynamicLpf(float cutoffFreq) {
     if (gyroConfig()->gyro_soft_lpf_type == FILTER_PT1) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {

src/main/sensors/gyro.h

@@ -61,7 +61,6 @@ extern gyro_t gyro;
 typedef struct gyroConfig_s {
     sensor_align_e gyro_align;              // gyro alignment
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
-    bool     gyroSync;                      // Enable interrupt based loop
     uint16_t looptime;                      // imu loop time in us
     uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint8_t  gyro_soft_lpf_hz;
@@ -95,5 +94,4 @@ bool gyroIsCalibrationComplete(void);
 bool gyroReadTemperature(void);
 int16_t gyroGetTemperature(void);
 int16_t gyroRateDps(int axis);
-bool gyroSyncCheckUpdate(void);
 void gyroUpdateDynamicLpf(float cutoffFreq);

src/main/target/FALCORE/config.c

@@ -59,7 +59,6 @@ void targetConfiguration(void)
 
 
     gyroConfigMutable()->looptime = 1000;
-    gyroConfigMutable()->gyroSync = 1;
     gyroConfigMutable()->gyro_lpf = 0;              // 256 Hz
     gyroConfigMutable()->gyro_soft_lpf_hz = 90;
     gyroConfigMutable()->gyro_notch_hz = 150;