mirror of https://github.com/ArduPilot/ardupilot
AP_InertialSensor: remove check for vibe check
For all supported boards we have vibration check.
This commit is contained in:
Lucas De Marchi
Andrew Tridgell
parent
db62e55753
commit
30a50b362f
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@ -283,14 +283,12 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
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// @User: Advanced
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AP_GROUPINFO("USE3", 22, AP_InertialSensor, _use[2], 0),
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#if INS_VIBRATION_CHECK
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// @Param: STILL_THRESH
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// @DisplayName: Stillness threshold for detecting if we are moving
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// @Description: Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
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// @Range: 0.05 to 50
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// @User: Advanced
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AP_GROUPINFO("STILL_THRESH", 23, AP_InertialSensor, _still_threshold, DEFAULT_STILL_THRESH),
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#endif
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// @Param: GYR_CAL
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// @DisplayName: Gyro Calibration scheme
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@ -336,19 +334,15 @@ AP_InertialSensor::AP_InertialSensor() :
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_accel_error_count[i] = 0;
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_gyro_error_count[i] = 0;
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_gyro_cal_ok[i] = true;
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#if INS_VIBRATION_CHECK
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_accel_clip_count[i] = 0;
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#endif
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_accel_max_abs_offsets[i] = 3.5f;
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_accel_sample_rates[i] = 0;
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}
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#if INS_VIBRATION_CHECK
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for (uint8_t i=0; i<INS_VIBRATION_CHECK_INSTANCES; i++) {
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_accel_vibe_floor_filter[i].set_cutoff_frequency(AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ);
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_accel_vibe_filter[i].set_cutoff_frequency(AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ);
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}
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#endif
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memset(_delta_velocity_valid,0,sizeof(_delta_velocity_valid));
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memset(_delta_angle_valid,0,sizeof(_delta_angle_valid));
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}
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@ -738,7 +732,6 @@ AP_InertialSensor::init_gyro()
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_save_parameters();
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}
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#if INS_VIBRATION_CHECK
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// accelerometer clipping reporting
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uint32_t AP_InertialSensor::get_accel_clip_count(uint8_t instance) const
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{
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@ -747,7 +740,6 @@ uint32_t AP_InertialSensor::get_accel_clip_count(uint8_t instance) const
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}
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return _accel_clip_count[instance];
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}
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#endif
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// get_gyro_health_all - return true if all gyros are healthy
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bool AP_InertialSensor::get_gyro_health_all(void) const
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@ -1547,7 +1539,6 @@ AuxiliaryBus *AP_InertialSensor::get_auxiliary_bus(int16_t backend_id)
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return backend->get_auxiliary_bus();
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}
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#if INS_VIBRATION_CHECK
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// calculate vibration levels and check for accelerometer clipping (called by a backends)
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void AP_InertialSensor::calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt)
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{
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@ -1584,17 +1575,12 @@ Vector3f AP_InertialSensor::get_vibration_levels(uint8_t instance) const
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}
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return vibe;
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}
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#endif
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// check for vibration movement. Return true if all axis show nearly zero movement
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bool AP_InertialSensor::is_still()
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{
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#if INS_VIBRATION_CHECK
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Vector3f vibe = get_vibration_levels();
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return (vibe.x < _still_threshold) &&
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(vibe.y < _still_threshold) &&
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(vibe.z < _still_threshold);
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#else
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return false;
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#endif
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}
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@ -16,7 +16,6 @@
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*/
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#define INS_MAX_INSTANCES 3
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#define INS_MAX_BACKENDS 6
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#define INS_VIBRATION_CHECK 1
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#define INS_VIBRATION_CHECK_INSTANCES 2
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#include <stdint.h>
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@ -202,7 +201,6 @@ public:
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// enable/disable raw gyro/accel logging
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void set_raw_logging(bool enable) { _log_raw_data = enable; }
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#if INS_VIBRATION_CHECK
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// calculate vibration levels and check for accelerometer clipping (called by a backends)
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void calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt);
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@ -212,7 +210,6 @@ public:
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// retrieve and clear accelerometer clipping count
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uint32_t get_accel_clip_count(uint8_t instance) const;
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#endif
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// check for vibration movement. True when all axis show nearly zero movement
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bool is_still();
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@ -353,7 +350,6 @@ private:
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uint32_t _accel_error_count[INS_MAX_INSTANCES];
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uint32_t _gyro_error_count[INS_MAX_INSTANCES];
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#if INS_VIBRATION_CHECK
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// vibration and clipping
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uint32_t _accel_clip_count[INS_MAX_INSTANCES];
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LowPassFilterVector3f _accel_vibe_floor_filter[INS_VIBRATION_CHECK_INSTANCES];
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@ -361,7 +357,6 @@ private:
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// threshold for detecting stillness
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AP_Float _still_threshold;
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#endif
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/*
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state for HIL support
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