Cross posting this issue from Slack Issues channel for sake of preserving history of any discussion.
I’m seeing two types of seemingly unnecessary sample timing variation:
- Toggling between 4 and 8mS
- Occasionally, sampling gaps of 10’s of milliseconds
The Cube Orange has two IMUs configured for interrupt-driven, FIFO operation. During normal operation, it looks like this configuration is contributing to some consistent timing patterns as the number of samples sometimes comes up short (not that “dt,” here, is computed from successive timestamp_sample values, not the dt field of the topic):
IMO, this type of variation is unnecessary, even if handled by PX4 pipeline. I’m looking into making changes to the IMU drivers to eliminate the phenomenon.
The second type of variation is more troubling because sampling just goes away for many cycles:
Again, the PX4 pipeline is robust to variation in sample timing, but this phenomenon seems unnecessary.
Do other boards have this sort of sample timing variation?