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Add CAS compensation for BMI270 #4

Merged
merged 1 commit into from
Nov 14, 2022
Merged

Add CAS compensation for BMI270 #4

merged 1 commit into from
Nov 14, 2022

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DusKing1
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According to BMI270 datasheet section 4.6.10:

For optimal gyroscope CAS performance the following data post-processing step is necessary:
Rate_x = DATA_15<<8+DATA_14 - GYR_CAS.factor_zx * (DATA_19<<8+DATA18) / 2^9
Rate_y = ...
Rate_z = DATA_19<<8+DATA_18

@DusKing1 DusKing1 force-pushed the add-cas-compensation-for-bmi270 branch 2 times, most recently from 5eb8ad1 to 15f0a8a Compare November 14, 2022 06:34
@DusKing1 DusKing1 force-pushed the add-cas-compensation-for-bmi270 branch from 15f0a8a to 63a639b Compare November 14, 2022 07:02
shanggl
shanggl reviewed Nov 14, 2022
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无明显问题，cpu占用率上升约 5%性能提升可以接收。

shanggl
shanggl approved these changes Nov 14, 2022
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同意合并入4.3-bsp-rebase default 分支

@shanggl shanggl merged commit ab158f9 into flightng:4.3-bsp-rebase Nov 14, 2022
@DusKing1 DusKing1 deleted the add-cas-compensation-for-bmi270 branch November 14, 2022 13:07
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好长的同意

@DusKing1 DusKing1 added this to the 4.3.2 milestone Nov 27, 2022
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可能从错误的寄存器里面读出了过多的无意义近零值，稍后将重新检查寄存器手册并修复。

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@shanggl shanggl shanggl approved these changes

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