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799 Commits

Author SHA1 Message Date
Andrew Tridgell c952e58edb AP_InertialSensor: fixed invensense driver temp reading 
different parts have quite different zero offsets in temperature
 2017-04-03 10:06:27 +10:00
Lucas De Marchi 2e4e4365d0 AP_InertialSensor: enable fast sampling for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 87846fe049 AP_InertialSensor: use MPU6500 on aerofc 2017-03-24 12:06:19 +11:00
Andrew Tridgell 875274e761 AP_InertialSensor: added support for ICM-20602 
treat the same as a 20608
 2017-03-02 14:21:36 +11:00
Andrew Tridgell b86513f503 AP_InertialSensor: support AUAV21 board 2017-03-01 17:24:10 +11:00
Lucas De Marchi 2d50eb312c AP_InertialSensor: add support to MPU6500 
Just like and MPU9250 without mag and with different WHOAMI register.
 2017-02-26 13:37:13 +11:00
murata a3f5b4f319 AP_InertialSensor: Change from magic number 0 to definition name. 2017-02-18 14:12:36 +00:00
Lucas De Marchi 9535b45cc9 AP_InertialSensor: examples: fix double to float warnings 
While at it add function prototype.
 2017-02-12 01:22:35 +00:00
Andrew Tridgell 01da36295d AP_InertialSensor: support the L3GD20H gyro 
this is used by the MRo Pixhawk1
 2017-01-31 07:39:36 +11:00
murata 0733d760f6 AP_HAL_VRBRAIN: Unify from print or println to printf. 
AP_InertialSensor: Unify from print or printin to printf.
 2017-01-27 18:20:22 +11:00
murata 2643e7e906 AP_InertialSensor: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Julien Beraud 3d9dacb227 AP_InertialSensor: push gyro data for opticalflow 
Do it only if there is an optical flow in the current HAL
 2017-01-23 21:23:16 +11:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
mirkix 62fabca19d AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963 2017-01-11 21:44:24 -08:00
Randy Mackay 946d30476a AP_InertialSensor: fix whoami for MPU6k 2017-01-05 10:29:51 +09:00
murata d56bad781f AP_InertialSensor: change if statements to switch statement 
No functional change
 2016-12-24 12:23:59 +09:00
murata 398b7b83dd AP_InertialSensor: minor formatting fixes 
No functional change
 2016-12-24 12:23:58 +09:00
Lucas De Marchi 9569ed94a9 AP_InertialSensor: Invensense: use capital letters for define 2016-12-20 09:23:30 +09:00
Andrew Tridgell a30745903a AP_InertialSensor: use ACC2_BIAS 2016-12-19 08:07:15 +11:00
priseborough 60ebe97e10 AP_InertialSensor: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
Andrew Tridgell 65b9b86099 AP_InertialSensor: unify MPU6000 and MPU9250 drivers 
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
 2016-12-16 12:31:34 +11:00
Pierre Kancir de05e6ba29 InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 12:39:30 -08:00
Pierre Kancir 13c16e187f InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 10:59:45 -08:00
Randy Mackay dfd58cc57b AP_InertialSensor: fix build warning for MPU9250 2016-11-30 18:00:14 +09:00
Randy Mackay 699279ed1f AP_InertialSensor: fix build warning for MPU6000 2016-11-30 18:00:13 +09:00
Andrew Tridgell f9845c93b1 AP_InertialSensor: keep transfers nicely setup for DMA on stm32 
this avoids using stack based bounce buffers which may not support DMA
on stm32
 2016-11-27 11:26:10 +11:00
Andrew Tridgell 771cedca3d AP_InertialSensor: reduced number of SPI transfers 
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
 2016-11-26 19:02:22 +11:00
Andrew Tridgell 27605b0258 AP_InertialSensor: run invensese reg checking at low speed 
config register read/write should be at low bus speed.

also change to check every 20 calls to reduce checking cost
 2016-11-25 20:31:40 +11:00
Andrew Tridgell 0f984290c3 AP_InertialSensor: enable fast sampling by default on some boards 2016-11-25 17:59:54 +11:00
Andrew Tridgell f3a778f980 AP_InertialSensor: fixed freeing of fifo buffer 2016-11-25 17:50:19 +11:00
Andrew Tridgell 6f28c61c8d AP_InertialSensor: changed SIZE to LEN 
thanks to Lucas for suggestion
 2016-11-25 17:50:19 +11:00
hiro2233 cb7f46d653 AP_InertialSensor: fixed handling of user_ctrl register 
with aux bus implementations
 2016-11-25 17:50:18 +11:00
Andrew Tridgell 9b4c588c09 AP_InertialSensor: adapt drivers for SPI-DMA capable systems 
no longer need accumulate() transfers with SPI enabled DMA on stm32
 2016-11-25 17:49:58 +11:00
Andrew Tridgell 28daddaaf2 AP_InertialSensor: don't use accumulate approach on Linux or I2C 2016-11-25 17:49:57 +11:00
Andrew Tridgell d9c8db7024 AP_InertialSensor: implement a new strategy for fast sampling 
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.

It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.

Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.

Thanks to Leonard and Paul for help with this design!
 2016-11-25 17:49:57 +11:00
Lucas De Marchi 87c6d5da13 AP_InertialSensor: replace panic() with return 
When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
 2016-11-21 18:04:10 -02:00
Andrew Tridgell 6129b1abb6 AP_InertialSensor: wait forever for semaphore on startup 
some boards take a silly amount of time to get semaphore on startup
 2016-11-21 17:57:21 -02:00
Andrew Tridgell 216cf53922 AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 
this prevents temporary corruption of INS data on FIFO overflow
 2016-11-19 12:54:22 +11:00
Andrew Tridgell 18d4286166 AP_InertialSensor: fixed pixfalcon 9250 detection 2016-11-18 14:24:39 +11:00
Andrew Tridgell cb1a5d4c74 AP_InertialSensor: take semaphore for update of accumulators 
this fixes a race in update of delta angle and delta velocity between
backend and frontend
 2016-11-18 06:32:17 +11:00
Andrew Tridgell f3f1f6b0b6 AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk 2016-11-16 20:33:56 +11:00
Andrew Tridgell 6af00027ab AP_InertialSensor: removed unused variables 
thanks to Francisco for noticing
 2016-11-16 08:41:06 +11:00
Francisco Ferreira bfbb275577 AP_InertialSensor: on accel cal failure don't save values to zero 
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
 2016-11-15 11:42:54 -08:00
Andrew Tridgell 624178f3be AP_InertialSensor: added INS_FAST_SAMPLE parameter 
this allows enable/disable of fast sampling per IMU, making
experimentation easier.

It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
 2016-11-15 21:16:40 +11:00
Andrew Tridgell c0303ffe8a AP_InertialSensor: temporarily disable fast sampling 
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
 2016-11-14 18:18:17 +11:00
Andrew Tridgell c794ad9ee8 AP_InertialSensor: use smaller FIFO buffers 
this allows for reading multiple chunks from the fifo per callback
 2016-11-13 13:16:22 +11:00
Andrew Tridgell 8d19808152 AP_InertialSensor: fixed missing checked register goto 
thanks to Francisco for spotting
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 49856c37f2 AP_InertialSensor: reduce checked register count 
thanks to Francisco for spotting this
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 4be8f05ad4 AP_InertialSensor: added register checking for LSM9DS0 2016-11-11 08:08:56 +11:00
Andrew Tridgell 77a83c091a AP_InertialSensor: added register checking for MPU6000/ICM20608 2016-11-11 08:08:56 +11:00