db14ba46dc
AP_InertialSensor: call notch param update with semaphore held
2022-04-19 09:39:03 +10:00
e2e1e74da5
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
2022-04-19 09:39:03 +10:00
e67d9b4179
AP_InertialSensor: support two full harmonic notch filters
2022-04-19 09:39:03 +10:00
b77476caa1
AP_InertialSensor: remove custom orentations
2022-03-02 18:16:42 +11:00
c7a43f2a90
AP_InertialSensor: put some functions in fast ram
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precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
2022-02-09 12:47:55 +00:00
662327f2ea
AP_InertialSensor: added support for more ADIS IMUs
...
support 32 bit delta angles and velocities
2021-12-29 18:25:18 +11:00
6e3b502110
AP_InertialSensor: inline vector ops for backends and temp cal
2021-12-22 18:23:33 +11:00
c6734ad825
AP_InertialSensor: correct logging of inertial-sensor reg-change logging
2021-12-18 21:25:27 +11:00
4fdc1ebc30
AP_InertialSensor: fixed locking issue in delta accumulation
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this fixes a bug in calculating delta velocity and delta acceleration
between threads.
2021-08-31 10:10:18 +10:00
447935bf4c
AP_InertialSensor: remove dependence on gcs for AP_Periph builds
2021-06-30 17:06:02 +10:00
2b20dcf128
AP_InertialSensor: move GYR & ACC logging functions to Logging.cpp
2021-05-01 14:15:58 +10:00
4cddf37984
AP_InertialSensor: log unexpected register changes
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when the register checking code finds an error we will log what
register changed and to what value
2021-02-24 18:18:37 +11:00
3ff71c7814
AP_InertialSensor: changes from review feedback
2021-01-21 13:09:21 +11:00
8caea96ab1
AP_InertialSensor: start auto-learning at boot
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This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
2021-01-21 13:09:21 +11:00
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
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this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
2021-01-21 13:09:21 +11:00
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
2437cf8a24
AP_Logger: use instance number for IMU logging
2020-11-11 19:31:53 +11:00
faf9bbbf3a
AP_InertialSensor: make the backend fast gyro rate configurable
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raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
2020-07-10 16:45:29 +10:00
61bb42cc0c
AP_InertialSensor: allow up to four distinct notch center frequencies to be updated
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apply the LPF after the notch filters to reduced notch-induced noise
2020-06-21 19:09:35 +10:00
8ac79da643
AP_InertialSensor: FFT gyro window would overflow on windows >= 256
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convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
2020-05-24 07:43:34 +10:00
5c6749ee54
AP_InertialSensor: use wait_pin() to wait for DRDY pin if available
2020-04-23 07:28:13 +10:00
0e9b2a26c5
AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate
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use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
2020-02-22 11:15:37 +11:00
3d9776dd6d
AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis.
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FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
2020-02-22 11:15:37 +11:00
143a071788
AP_InertialSensor: add rpm-based motor noise to gyros and accels
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Remove sample time error in backend.
2019-12-17 10:07:06 +11:00
236ce28339
AP_InertialSensor: updated for heater changes
2019-11-02 16:31:04 +11:00
8e385d7453
AP_InertialSensor: correct formatting
2019-09-11 18:41:05 +10:00
5b7f9f6bea
AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value
2019-09-11 18:41:05 +10:00
3261677e01
AP_InertialSensor: remove _ prefix from methods. use changed filter methods.
2019-09-11 18:41:05 +10:00
50f7e50634
AP_InertialSensor: add harmonic notch filter to gyro filter chain
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Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats.
backend variables do not need to be indexed per-backed
2019-09-11 18:41:05 +10:00
09d3392aee
AP_InertialSensor: zero accumulators on time step
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this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
2019-07-07 19:03:01 +10:00
3444e82ef9
AP_InertialSensor: added RC switch for killing IMUs
2019-07-07 19:03:01 +10:00
fff81a2163
AP_InertialSensor: Make sure the LPF output is used by the notch input.
2019-06-06 17:09:17 +10:00
18d403c3ac
AP_InertialSensor: Rework notch filter allocation and sampling
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https://github.com/ArduPilot/ardupilot/issues/11346
Allocate a notch filter per-IMU.
Update the notch filters in the backend at the sensor sample rate.
Allow raw logging of post-filtered gyro and accel values.
2019-06-06 17:09:17 +10:00
ef860db558
AP_InertialSensor: add floating point constant designators
2019-04-05 23:04:17 -07:00
3eeaa2c8df
AP_InertialSensor: rename dataflash to logger
2019-03-28 16:40:57 +11:00
9347e6d36f
AP_InertialSensor: unify singleton naming to _singleton and get_singleton()
2019-02-10 19:09:58 -07:00
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
755dc8dc5d
AP_InertialSensor: use WITH_SEMAPHORE()
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and removed usage of hal.util->new_semaphore()
2018-10-17 12:54:22 +11:00
1a640e3405
AP_InertialSensor: parameterise sensor-rate logging, generalise it
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AP_InertialSensor: add parameters for push-to-log interval and count
AP_InertialSensor: rename BAT_RAW to BAT_OPT
This becomes a bitmask of options for the BatchSampler
AP_InertialSensor: rename 'fast sample' to 'sensorrate sample'
AP_InertialSensor: const sensor-rate filter method
AP_InertialSampler: remove hard-coding of sample rate multiplier
AP_InertialSensor: use parameter to enable/disable sensor-rate logging
AP_InertialSensor: use a parameter to control sensor-rate logging
AP_InertialSensor: allow backends to override sensor data multiplier
e.g. some accelerometers are sensitive over wider ranges than the default 16G
AP_Inertialsensor: correct sample rate multiplier
2018-05-01 09:35:29 +10:00
44131202cd
AP_InertialSensor: 4kHz batch sampling
2018-05-01 09:35:29 +10:00
ad4e928e7d
AP_InertialSensor: add support for custom board orientations
2018-04-24 13:04:37 +01:00
0e6497aa85
AP_InertialSensor: merged in Revo driver
2018-02-10 09:14:41 +11:00
9566abb3a8
AP_InertialSensor: add IMU batch sampling
2017-10-27 16:33:45 +11:00
5096e2fca9
AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw
2017-10-27 16:33:45 +11:00
6ae86a0b8c
AP_InertialSensor: use DataFlash should_log to determine raw logging
2017-06-29 15:26:27 +01:00
2876f1467c
AP_InertialSensor: converge sensor rate quickly, then slowly
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converge fast for the first 60 seconds, then more slowly to reduce
noise
2017-05-01 15:13:56 +10:00
db25b6e966
AP_InertialSensor: estimate and log sensor rates for all IMUs
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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
49cc0965c0
AP_InertialSensor: separate handling of FIFO and non-FIFO sensors
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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
a3f5b4f319
AP_InertialSensor: Change from magic number 0 to definition name.
2017-02-18 14:12:36 +00:00
Andrew Tridgell
Iampete1
Andy Piper
Peter Barker
Siddharth Purohit
Josh Henderson
Tom Pittenger
Jacob Walser
murata