Commit Graph

172 Commits

Author SHA1 Message Date
Andrew Tridgell 39c206ca03 AP_InertialSensor: limit delta-time from INS
limit delta-time to 2x average time

DEBUG CODE - DO NOT MERGE
2017-12-12 11:39:38 +11:00
Peter Barker 161e2145cb AP_InertialSensor: tighten type of simple_accel_cal result 2017-12-01 17:01:10 +00:00
Peter Barker 9566abb3a8 AP_InertialSensor: add IMU batch sampling 2017-10-27 16:33:45 +11:00
Peter Barker 5096e2fca9 AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw 2017-10-27 16:33:45 +11:00
Andrew Tridgell d5cab1140a AP_InertialSensor: added simple_accel_cal()
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
2017-10-10 10:57:38 +11:00
Lucas De Marchi d566567d87 AP_InertialSensor: add static create method 2017-09-26 03:01:21 +01:00
Andrew Tridgell 7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Peter Barker 6ae86a0b8c AP_InertialSensor: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Andrew Tridgell db25b6e966 AP_InertialSensor: estimate and log sensor rates for all IMUs
this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
2017-05-01 15:06:46 +10:00
Andrew Tridgell 49cc0965c0 AP_InertialSensor: separate handling of FIFO and non-FIFO sensors
FIFO sensors produce data at a well known rate, but samples come in
bunches, so we can't use the system clock to calculate deltaT.

non-FIFO sensors produce data when we sample them, but that rate is
less regular due to timing jitter.

For FIFO sensors this changes makes us use a learned sample rate,
which allows for different clock speeds on sensor and system board.

For non-FIFO sensors we use the system clock to measure deltaT

the overall effect is a fix for sensors that produce samples at other
than the claimed datasheet rate.
2017-05-01 15:06:46 +10:00
Andrew Tridgell e62fdad12c AP_InertialSensor: added get_last_update_usec()
this will be used by the inter-EKF scheduling changes
2017-05-01 14:24:55 +10:00
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 4ebf3309f7 AP_InertialSensor: auto-handle invensense sensor changes
some boards swap out MPU6000 for MPU9250 or ICM20608
2016-11-11 08:08:55 +11:00
Lucas De Marchi 469efb00f6 AP_InertialSensor: save id for gyro and accel instances
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.

We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
2016-11-09 17:08:05 +11:00
Lucas De Marchi bbb9bfa95e AP_InertialSensor: save only gyro calibration
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.

Rename the method to _save_gyro_calibration() and save only on gyro
values.
2016-11-09 17:08:05 +11:00
Lucas De Marchi ace61087a1 AP_InertialSensor: remove product_id
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.

A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
2016-11-09 17:08:05 +11:00
Andrew Tridgell 2df6ed08c2 AP_InertialSensor: added optional per-instance orientation
this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
murata c808ee2f49 Global: To nullptr from NULL.
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
Andrew Tridgell afe2c31ae7 AP_Inertial_Sensor: use const reference 2016-10-27 15:06:11 +11:00
priseborough 6db93d8a21 AP_InertialSensor: Add parameters defining accelerometer position offset 2016-10-27 14:54:41 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell cb858d2c99 AP_InertialSensor: fixed typo 2016-07-01 15:35:22 +10:00
Andrew Tridgell be41d402b5 AP_InertialSensor: added set of delta angle time for replay 2016-04-26 15:50:46 +10:00
Jonathan Challinger c454631be8 AP_InertialSensor: work around gyro and accel errors on startup 2016-02-19 16:40:52 +09:00
Lucas De Marchi 9c6bd38e91 AP_InertialSensor: sanitize includes
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.

With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.

Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:

	$ waf copter
	'copter' finished successfully (0.000s)
	Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
	[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
	[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
	[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
	[370/370] Linking build/minlure/bin/arducopter
	Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
2016-02-01 14:18:51 -02:00
Lucas De Marchi 1ca03006ad AP_InertialSensor: MPU9150: remove driver
This is not used by any board and has a lot of commented out code. For
example, the compass is not enabled.  The comment in the beginning of
the driver says it should serve as an example, but we should rather use
a working driver as an example. If this was at least a bit simpler and
that worked in the past we could refactor it to the new I2CDevice API.
This is not the case.
2016-02-01 14:18:51 -02:00
Andrew Tridgell ee453783eb AP_InertialSensor: added get_delta_angle_dt() API 2016-01-19 09:50:21 +11:00
Andrew Tridgell b2745bb545 AP_InertialSensor: we only need peak hold for negative X for now 2016-01-02 09:58:32 +11:00
Tom Pittenger 3aaf2b1d2b AP_InertialSensor: add pos/neg peak detector
new functions that get a filtered min/max accel peaks on each axis with fixed 500ms timeout:
    Vector3f get_accel_peak_hold_pos()
    Vector3f get_accel_peak_hold_neg()

This allows slower mechanisms, such as is_flying, to detect accel spikes which would indicate ground or object impacts. Vibe is too filtered. Independent positive and negative peaks are available
2016-01-02 09:58:31 +11:00
Jonathan Challinger 137ace473d AP_InertialSensor: add accel_cal_requires_reboot 2015-12-29 10:46:35 -08:00
Jonathan Challinger 492223cb84 AP_InertialSensor: support AP_AccelCal 2015-12-29 10:46:34 -08:00
Andrew Tridgell 17fc58f3cd AP_InertialSensor: re-work for more flexible main loop rates 2015-12-27 14:57:12 +09:00
Andrew Tridgell 93ef881109 AP_InertialSensor: added get_loop_delta_t() API 2015-12-27 14:57:10 +09:00
Andrew Tridgell 6639c23685 AP_InertialSensor: added QURT driver 2015-12-27 16:21:26 +11:00
Andrew Tridgell 28230556bb AP_InertialSensor: added qflight driver 2015-12-27 16:12:27 +11:00
Andrew Tridgell 4a768d47f3 AP_InertialSensor: created a SITL specific backend 2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends
use common code for filtering and update, allowing each sensor driver
to be simpler and more consistent
2015-11-16 17:57:35 +11:00
José Roberto de Souza d1ff4286c2 AP_InertialSensor: Make detect_backends() public
This method will be used to initialize and configure I2C backends that
have an auxiliary I2C bus that can be connected to the main I2C bus,
like MPU6000 and MPU9250.
2015-11-11 14:29:07 +11:00
José Roberto de Souza 588df53429 AP_InertialSensor: Add support to get auxiliary bus of multiple instances of the same sensor 2015-11-11 14:29:06 +11:00
Lucas De Marchi 3142f21363 AP_InertialSensor: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Gustavo Jose de Sousa 25a499a41f AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.

The changes in the code were basically done with the following commands:

git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"

git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"

And also with minor changes on indentation and comments.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 7fef515555 AP_InertialSensor: unify delta angle calculation
This commit basically moves delta angle calculation that was previously done in
AP_InertialSensor_PX4 to a common place. Instances must publish their gyro raw
sample rate to enable delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 9e05041234 AP_InertialSensor: allow publishing gyro raw sample rate to frontend
That information will be used for a unified delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 75fdac648f AP_InertialSensor: unify delta velocity calculation
This commit basically moves delta velocity calculation that was previously done
in AP_InertialSensor_PX4 to a common place. Instances must publish their accel
raw sample rate to enable delta velocity calculation.
2015-10-22 16:53:10 +11:00
Lucas De Marchi 30a50b362f AP_InertialSensor: remove check for vibe check
For all supported boards we have vibration check.
2015-10-21 10:05:17 +11:00
Lucas De Marchi a147b97d2b AP_InertialSensor: remove check for HAL_CPU_CLASS
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
INS_MAX_INSTANCES, INS_MAX_BACKENDS and INS_VIBRATION_CHECK constant for
all supported boards.
2015-10-21 10:05:17 +11:00
Randy Mackay b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
José Roberto de Souza 30610fb17d AP_InertialSensor: Remove misspelled and unused method 2015-10-16 10:16:24 +11:00
José Roberto de Souza daa32725ac AP_InertialSensor: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Randy Mackay ec82aa68c4 InertialSensor: add GYR_CAL to control when gyro calibration occurs 2015-09-21 17:06:16 +09:00