AP_InertialSensor_MPU9150: I2C userspace driver sensor added.

The MPU9150 is a 9 axis sensor that includes 3 accelerometers,
3 gyroscopes and 3 magnetometers. All accessible through I2C.
The AP_InertialSensor_MPU9150 class allows APM to use this sensor.

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -227,5 +227,6 @@ protected:
 #include "AP_InertialSensor_UserInteract_MAVLink.h"
 #include "AP_InertialSensor_Flymaple.h"
 #include "AP_InertialSensor_L3G4200D.h"
+#include "AP_InertialSensor_MPU9150.h"
 
 #endif // __AP_INERTIAL_SENSOR_H__

libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h

@@ -0,0 +1,69 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#ifndef __AP_INERTIAL_SENSOR_MPU9150_H__
+#define __AP_INERTIAL_SENSOR_MPU9150_H__
+
+#include <AP_HAL.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+
+#include <AP_Progmem.h>
+#include "AP_InertialSensor.h"
+#include <Filter.h>
+#include <LowPassFilter2p.h>
+
+
+class AP_InertialSensor_MPU9150 : public AP_InertialSensor
+{
+public:
+
+    AP_InertialSensor_MPU9150();
+
+    /* Implementation of AP_InertialSensor functions: */
+    bool            update();
+    float        	get_delta_time() const;
+    float           get_gyro_drift_rate();
+    bool            wait_for_sample(uint16_t timeout_ms);
+
+private:
+    uint16_t        _init_sensor( Sample_rate sample_rate );
+    void             _accumulate(void);
+    bool            _sample_available();
+    // uint64_t        _last_update_usec;
+    Vector3f        _accel_filtered;
+    Vector3f        _gyro_filtered;
+    uint32_t        _sample_period_usec;
+    uint32_t        _last_sample_time;
+    volatile uint32_t _gyro_samples_available;
+    volatile uint8_t  _gyro_samples_needed;
+
+    // // support for updating filter at runtime
+    uint8_t         _last_filter_hz;
+    uint8_t          _default_filter_hz;
+
+    int16_t mpu_set_gyro_fsr(uint16_t fsr);
+    int16_t mpu_set_accel_fsr(uint8_t fsr);
+    int16_t mpu_set_lpf(uint16_t lpf);
+    int16_t mpu_set_sample_rate(uint16_t rate);
+    int16_t mpu_set_compass_sample_rate(uint16_t rate, uint16_t chip_sample_rate);
+    int16_t mpu_configure_fifo(uint8_t sensors);
+    int16_t set_int_enable(uint8_t enable);
+    int16_t mpu_reset_fifo(uint8_t sensors);
+    int16_t mpu_set_sensors(uint8_t sensors);
+    int16_t mpu_set_int_latched(uint8_t enable);
+    int16_t mpu_read_fifo(int16_t *gyro, int16_t *accel, uint32_t timestamp, uint8_t *sensors, uint8_t *more);
+
+    // Filter (specify which one)
+    void _set_filter_frequency(uint8_t filter_hz);
+
+    // Low Pass filters for gyro and accel 
+    LowPassFilter2p _accel_filter_x;
+    LowPassFilter2p _accel_filter_y;
+    LowPassFilter2p _accel_filter_z;
+    LowPassFilter2p _gyro_filter_x;
+    LowPassFilter2p _gyro_filter_y;
+    LowPassFilter2p _gyro_filter_z;
+
+
+};
+#endif
+#endif // __AP_INERTIAL_SENSOR_MPU9150_H__

libraries/AP_InertialSensor/examples/MPU9150/MPU9150.pde

@@ -0,0 +1,202 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+//
+// Simple test for the AP_InertialSensor driver.
+//
+
+#include <stdarg.h>
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
+#include <AP_HAL_FLYMAPLE.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_Empty.h>
+#include <AP_HAL_Linux.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
+#include <AP_ADC.h>
+#include <AP_InertialSensor.h>
+#include <GCS_MAVLink.h>
+#include <AP_Notify.h>
+#include <Filter.h>
+#include <AP_AHRS.h>
+#include <AP_NavEKF.h>
+#include <AP_HAL_Linux.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_GPS.h>
+#include <AP_Baro.h>
+#include <AP_ADC_AnalogSource.h>
+#include <DataFlash.h>
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+AP_InertialSensor_MPU9150 ins;
+
+void setup(void)
+{
+    hal.console->println("AP_InertialSensor startup...");
+
+    ins.init(AP_InertialSensor::COLD_START, 
+			 AP_InertialSensor::RATE_400HZ);
+
+    // display initial values
+    display_offsets_and_scaling();
+    hal.console->println("Complete. Reading:");
+}
+
+void loop(void)
+{
+    int16_t user_input;
+
+    hal.console->println();
+    hal.console->println_P(PSTR(
+    "Menu:\r\n"
+    "    c) calibrate accelerometers\r\n"
+    "    d) display offsets and scaling\r\n"
+    "    l) level (capture offsets from level)\r\n"
+    "    t) test\r\n"
+    "    r) reboot"));
+
+    // wait for user input
+    while( !hal.console->available() ) {
+        hal.scheduler->delay(20);
+    }
+
+    // read in user input
+    while( hal.console->available() ) {
+        user_input = hal.console->read();
+
+        if( user_input == 'c' || user_input == 'C' ) {
+            run_calibration();
+            display_offsets_and_scaling();
+        }
+
+        if( user_input == 'd' || user_input == 'D' ) {
+            display_offsets_and_scaling();
+        }
+
+        if( user_input == 'l' || user_input == 'L' ) {
+            run_level();
+            display_offsets_and_scaling();
+        }
+
+        if( user_input == 't' || user_input == 'T' ) {
+            run_test();
+        }
+
+        if( user_input == 'r' || user_input == 'R' ) {
+			hal.scheduler->reboot(false);
+        }
+    }
+}
+
+void run_calibration()
+{
+    float roll_trim, pitch_trim;
+    // clear off any other characters (like line feeds,etc)
+    while( hal.console->available() ) {
+        hal.console->read();
+    }
+
+
+#if !defined( __AVR_ATmega1280__ )
+    AP_InertialSensor_UserInteractStream interact(hal.console);
+    ins.calibrate_accel(&interact, roll_trim, pitch_trim);
+#else
+	hal.console->println_P(PSTR("calibrate_accel not available on 1280"));
+#endif
+}
+
+void display_offsets_and_scaling()
+{
+    Vector3f accel_offsets = ins.get_accel_offsets();
+    Vector3f accel_scale = ins.get_accel_scale();
+    Vector3f gyro_offsets = ins.get_gyro_offsets();
+
+    // display results
+    hal.console->printf_P(
+            PSTR("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
+                    accel_offsets.x,
+                    accel_offsets.y,
+                    accel_offsets.z);
+    hal.console->printf_P(
+            PSTR("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
+                    accel_scale.x,
+                    accel_scale.y,
+                    accel_scale.z);
+    hal.console->printf_P(
+            PSTR("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
+                    gyro_offsets.x,
+                    gyro_offsets.y,
+                    gyro_offsets.z);
+}
+
+void run_level()
+{
+    // clear off any input in the buffer
+    while( hal.console->available() ) {
+        hal.console->read();
+    }
+
+    // display message to user
+    hal.console->print("Place APM on a level surface and press any key..\n");
+
+    // wait for user input
+    while( !hal.console->available() ) {
+        hal.scheduler->delay(20);
+    }
+    while( hal.console->available() ) {
+        hal.console->read();
+    }
+
+    // run accel level
+    ins.init_accel();
+
+    // display results
+    display_offsets_and_scaling();
+}
+
+void run_test()
+{
+    Vector3f accel;
+    Vector3f gyro;
+    float length;
+	uint32_t counter = 0;
+
+    // flush any user input
+    while( hal.console->available() ) {
+        hal.console->read();
+    }
+
+    // clear out any existing samples from ins
+    ins.update();
+
+    // loop as long as user does not press a key
+    while( !hal.console->available() ) {
+
+        // wait until we have a sample
+        ins.wait_for_sample(1000);
+
+        // read samples from ins
+        ins.update();
+        accel = ins.get_accel();
+        gyro = ins.get_gyro();
+
+        length = accel.length();
+
+		if (counter++ % 50 == 0) {
+			// display results
+			hal.console->printf_P(PSTR("Accel X:%4.2f \t Y:%4.2f \t Z:%4.2f \t len:%4.2f \t Gyro X:%4.2f \t Y:%4.2f \t Z:%4.2f\n"), 
+								  accel.x, accel.y, accel.z, length, gyro.x, gyro.y, gyro.z);
+		}
+    }
+
+    // clear user input
+    while( hal.console->available() ) {
+        hal.console->read();
+    }
+}
+
+AP_HAL_MAIN();

libraries/AP_InertialSensor/examples/MPU9150/Makefile

@@ -0,0 +1 @@
+include ../../../../mk/apm.mk