e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
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this waits for a new INS sample to arrive, using whatever method is
most efficient on each INS type
2013-10-08 17:31:15 +11:00
dda68bddcb
AP_InertialSensor: updates for AP_HAL::MemberProc
2013-09-30 21:06:42 +10:00
03036c632d
AP_InertialSensor: use new scheduler API
2013-09-28 21:24:03 +10:00
f7ba0438ef
InertialSensor: remove DMP
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this saves 3K of flash
2013-09-27 10:43:33 +09:00
14636e1cdf
AP_InertialSensor: changed num_samples_available() to sample_available()
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this makes the interface clearer. It also fixes a 3D accel cal bug.
2013-09-27 10:49:00 +10:00
1ec5cbed81
AP_InertialSensor: removed SMACCM support
2013-09-26 22:38:31 +10:00
770b7b5901
AP_InertialSensor: prevent a lockup in MPU6000 driver
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thanks to the VRBrain port for noticing this bug.
Failing to get the semaphore is an expected error with the MPU6000, as
we read data both from timer context and mainline code. That means
semaphore conflicts are inevitable. We shouldn't consider them an
error, and shouldn't panic when some arbitrary number of them have
happened since boot.
Instead the wait_for_sample() code checks that we receive new data at
least every 50ms. That is a much safer test.
2013-09-23 22:48:36 +10:00
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
2013-04-12 14:30:35 +10:00
af13f6795c
INS: switch to global definition of GRAVITY_MSS
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saves 4 bytes of RAM
2013-04-05 22:57:46 +09:00
318a831b57
INS: set default filter to 20hz for APM2.x and PX4
2013-03-01 19:35:34 +09:00
a63275d284
AP_InertialSensor: expand register range in MPU6000 _dump_registers()
2013-02-13 19:33:40 +11:00
7b1245937c
AP_InertialSensor: always sample at 200Hz in MPU6000
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this changes the sampling to 200Hz regardless of requested rate, and
it is downsampled inside num_samples_available() using a shift. This
gives better noise resistance in ArduPlane.
This patch also makes it possible to update the filter frequency while
running, which is very useful for bench testing with a vibration
source
2013-02-07 10:23:08 +11:00
bad81a5113
AP_InertialSensor_MPU6k: remove unnecessary check of sign when receiving fifo packet from dmp
2013-01-27 11:22:39 +09:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
d7996acdf7
AP_InertialSensor: added set_board_orientation() method
2013-01-13 17:32:48 +11:00
6142eac4b4
AP_InertialSensor: simplify get_delta_time() API
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use a single float return rather than two APIs.
This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
2013-01-11 21:17:21 +11:00
910e09fc96
AP_InertialSensor_MPU6000: fix sync/async semaphore usage with new scheduler
2013-01-10 14:12:19 -08:00
8e38ef6567
MPU6000: Flip Y and Z axes for SMACCM_HAL.
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- The accelerometer is upside-down on the PX4FMU vs the APM2.
2013-01-09 11:19:51 -08:00
1309b7332a
MPU6000: Use signed addition when accumulating readings.
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- Fixes very erratic accel readings on the PX4 board.
2013-01-09 11:19:51 -08:00
f48790a56e
AP_InertialSensor: poll for new data in num_samples_available()
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this lowers the latency for new data
2013-01-09 20:31:09 +11:00
4ab1cddd15
AP_InertialSensor: ensure we always have the SPI semaphore for MPU6k
2013-01-09 20:30:20 +11:00
b39166b71a
MPU6000: fixed minor timing bug
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if we miss a sample due to SPI contention we shouldn't update last
sample time
2013-01-07 11:07:29 +11:00
d84ba8ef59
Use HAL suspend/resume timer procs rather than atomic.
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- Preparation for removing begin/end atomic.
2013-01-03 17:33:13 -08:00
d808c19c10
AP_InertialSensor_MPU6000: uses new semaphores
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* some refactoring to fix differences between timerprocess
and non-timerprocess usage
2013-01-03 13:48:07 -08:00
acf05a29ee
AP_InertialSensor_MPU6000: Poll status register if there is no data ready pin.
2013-01-03 13:48:06 -08:00
212728be34
InertialSensor: ensure MPU6000 is out of sleep mode before configuring
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the MPU6000 starts in sleep mode, and can take a while to wakeup
2012-12-27 21:28:41 +11:00
122b8716a7
InertialSensor: added auto reset of MPU6000 on startup failure
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this works around the problem of the MPU6000 failing to come up on DTR
reset or warm reboot
2012-12-24 07:17:03 +11:00
44ad850542
InertialSensor: latch the data ready pin high on new data
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this ensures we don't miss a sample due to another source of delay
2012-12-23 17:46:36 +11:00
e2edad8a3f
InertialSensor: fixed last sample time in MPU6000
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we lost this in the final work on the DTR bug
2012-12-23 08:59:35 +11:00
1a53bc783c
InertialSensor: poll data ready pin instead of an interrupt for MPU6k
2012-12-22 09:16:31 +11:00
9548e7e79e
InertialSensor: simplify the data_ready interrupt handling
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this avoids using the defer process code, and fixes a nasty bug that
caused the APM to lockup on reset
2012-12-21 20:01:19 +11:00
44f860e102
InertialSensor: fixed some compiler warnings
2012-12-20 14:52:35 +11:00
b502732249
AP_InertialSensor: rewrite basic code for spi device transactions
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* I'm not touching that DMP stuff because I'm pretty convinced it should
instead be deprecated
2012-12-20 14:52:32 +11:00
a4f41c1d29
AP_InertialSensor: MPU6000 uses scheduler panic
2012-12-20 14:52:31 +11:00
2c1682f310
InertialSensor: use AP_HAL progmem
2012-12-20 14:51:39 +11:00
c9a81d7de6
AP_InertialSensor: fixed sign of 16 bit SPI transfer
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this gets accels and gyros working again
2012-12-20 14:51:36 +11:00
9aca19415a
AP_InertialSensor: robust semaphores
2012-12-20 14:51:36 +11:00
1019fb45e7
AP_InertialSensor: remove sei in data interrupt handler
2012-12-20 14:51:36 +11:00
4acf2c8591
AP_InertialSensor: ported to AP_HAL
2012-12-20 14:51:26 +11:00
b4e5176e2a
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
3b18c57691
AP_InertialSensor: removed axis getters for accel/gyro
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these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
b237c0583d
AP_InertialSensor: Added INS_MPU6K_FILTER option
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this allows the user to select the MPU6000 filtering frequency
2012-11-30 07:15:19 +11:00
089ae0f9f3
AP_InertialSensor: allow specification of sample rate in init() call
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this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen.
This also changes the MPU6k filtering to be less than half the sample
rate
2012-11-30 07:15:18 +11:00
f843705da3
INS: switch to SREG = oldSREG pattern for interrupt mask/restore
2012-11-20 22:31:23 +11:00
3776e6108f
INS: use vector subtraction to make code clearer
2012-11-20 18:32:27 +11:00
8ccac5da3d
AP_InertialSensor: correct typo to datasheet's filename
2012-11-20 00:37:42 +09:00
d9b4407e64
AP_InertialSensor: changes after review with Tridge.
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sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +09:00
49de46a548
AP_InertialSensor: merge in calibration features from IMU library
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add gauss-newton method of accelerometer calibration
2012-11-07 19:20:27 +09:00
8c6fd340d7
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
Andrew Tridgell
Randy Mackay
James Bielman
Pat Hickey