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379 Commits

Author SHA1 Message Date
Randy Mackay
b650d39786 InertialSensor: remove product_id set to zero 2015-02-21 09:14:33 +09:00
Andrew Tridgell
9b2d44d6ed AP_InertialSensor: use delay_microseconds_boost() 
this gives much more consistent timing for PX4
 2015-02-16 12:19:13 +11:00
Andrew Tridgell
f54d799bff AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues 2015-02-16 10:12:10 +11:00
Andrew Tridgell
04bef5ccf3 AP_InertialSensor: don't skip delay if we are a bit early 
this produces a bit more even timing
 2015-02-14 12:25:44 +11:00
Andrew Tridgell
4537acb898 AP_InertialSensor: change for new PX4 device paths 2015-02-14 12:25:43 +11:00
mirkix
460b434708 AP_InertialSensor: add apm1 oilpan support 2015-02-11 18:22:44 +11:00
Grant Morphett
b511410b48 AP_InertialSensor: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Emile Castelnuovo
dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
731329fc55 AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN 2015-02-02 08:43:58 +11:00
LukeMike
6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +11:00
Andrew Tridgell
6e62e1ca7b AP_InertialSensor: make calibrated() const 2015-02-01 14:13:54 +11:00
Randy Mackay
b43dc3bdfb INS: fix example sketch 2015-01-28 17:15:42 +09:00
Andrew Tridgell
8b59c72eb9 AP_InertialSensor: cope with 2 IMUs in SITL 2015-01-20 19:47:45 +11:00
Andrew Tridgell
b3ce56d34d AP_InertialSensor: fixed 2nd IMU in Replay 
this makes for much more accurate replay runs
 2015-01-20 09:20:47 +11:00
mirkix
fa950a735e AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
Andrew Tridgell
1b3c3c754d AP_InertialSensor: use correct ifdef for AK8963 2015-01-07 11:58:05 +11:00
Staroselskii Georgii
f7f9cd2173 AP_InertialSensor: prevented MPU9250 from disabling I2C slaves 2015-01-07 08:41:13 +11:00
Andrew Tridgell
745b739ab7 AP_InertialSensor: make calibrated() function fast enough to call in flight 
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.

Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
 2015-01-03 14:06:42 +11:00
Andrew Tridgell
06a72839ed AP_InertialSensor: fixed error detection on secondary IMUs 
the break; was preventing error detection on lsm303d/l3gd20
 2015-01-01 08:55:57 +11:00
Andrew Tridgell
b9adc6e466 AP_InertialSensor: prefer sensors that have zero error counts 
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
 2014-12-29 21:19:35 +11:00
Andrew Tridgell
7bb56e50aa AP_InertialSensor: fixed example build 2014-11-28 10:40:19 +11:00
Andrew Tridgell
f84f432ecf AP_InertialSensor: allow gyro calibration to take up to 30 seconds 
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
 2014-11-22 18:27:51 +11:00
Andrew Tridgell
7c288e020b AP_InertialSensor: fixed detection of dead IMU 
if a PX4 sensor does not give new data we need to avoid calling
_rotate_and_offset_*() to avoid marking it as healthy. Otherwise if
the MPU6k dies we won't switch to the LSM303D automatically
 2014-11-16 12:30:33 +11:00
Andrew Tridgell
986b7bf894 AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers 2014-11-11 17:06:22 +11:00
Andrew Tridgell
3518cf5480 AP_InertialSensor: fixed default MPU9250 orientation for NavIO 2014-11-04 16:18:35 +11:00
Andrew Tridgell
ad7c612334 AP_InertialSensor: fixed SITL with new HIL code 2014-10-24 15:05:44 +11:00
Andrew Tridgell
aeaa3c1e04 AP_InertialSensor: fixed build for VRBrain 2014-10-24 12:10:41 +11:00
Andrew Tridgell
40e83ceb1f AP_InertialSensor: simplify next sample time calculations 
this makes the calculation much clearer
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
9dfbdb1e69 AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs 
use a software filter and 1kHz sampling for better filtering if we
have a fast enough CPU to do it
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
a047d1f569 AP_InertialSensor: moved default filter and sample_rate to frontend 
this simplifies the backends and prevents code repitition
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
17b2214798 AP_InertialSensor: make it easier to add multiple backends 
use _add_backend() to add new backends on startup
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
bc5d79118d AP_InertialSensor: updated comments 2014-10-24 12:10:39 +11:00
Andrew Tridgell
3a9a5a9c18 AP_InertialSensor: implement gyro and accel health monitoring 
sensor is healthy if it gave a sample on the last update()
 2014-10-24 12:10:39 +11:00
Andrew Tridgell
586fa9a816 AP_InertialSensor: added product_id support 
fill in parameter from first backend
 2014-10-24 12:10:39 +11:00
Andrew Tridgell
520727e5bd AP_InertialSensor: fixed example build 2014-10-24 12:10:39 +11:00
Andrew Tridgell
dbcd02f2be AP_InertialSensor: converted MPU9150 driver 
untested conversion
 2014-10-24 12:10:38 +11:00
Andrew Tridgell
ff5f791343 AP_InertialSensor: converted flymaple driver to new API 2014-10-24 12:10:38 +11:00
Andrew Tridgell
a42af0f2f1 AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN 2014-10-24 12:10:38 +11:00
Andrew Tridgell
3ce7667e5a AP_InertialSensor: tidy up MPU6000 driver 2014-10-24 12:10:37 +11:00
Andrew Tridgell
2d47a07480 AP_InertialSensor: ported L3G4200D driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
deafcd6ddc AP_InertialSensor: improved timing in all drivers 2014-10-24 12:10:37 +11:00
Andrew Tridgell
ff6d87f145 AP_InertialSensor: minor tidy up for HIL driver 2014-10-24 12:10:37 +11:00
Andrew Tridgell
85686c22ec AP_InertialSensor: converted the APM1/Oilpan driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
dcef9bb3b8 AP_InertialSensor: converted the MPU9250 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
ec11417705 AP_InertialSensor: converted HIL backend, which gets SITL working 2014-10-24 12:10:36 +11:00
Andrew Tridgell
448efc70a3 AP_InertialSensor: first steps in frontend/backend split 
This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
 2014-10-24 12:10:36 +11:00
Randy Mackay
834f2bea07 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:00:07 +09:00
Randy Mackay
0803d79701 INS: param descriptions for ACC2, GYR2 2014-09-27 21:05:33 +09:00
Randy Mackay
74553e523d INS: add get_accel_health_all and get_gyro_health_all 
Returns true only if all available accels or gyros are healthy
 2014-09-03 11:22:46 +09:00