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256 Commits

Author SHA1 Message Date
Andrew Tridgell 152c12c283 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell 3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 8ccac5da3d AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
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
rmackay9 49de46a548 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
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
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
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
rmackay9 921ab3fe12 ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts) 2012-09-28 18:34:23 +09:00
Andrew Tridgell 7e544e8ead MPU6k: save 72 bytes of memory 
the buffer can be on the stack
 2012-09-18 13:58:50 +10:00
rmackay9 9f1033dc42 AP_InertialSensor_Stub: added num_samples_available method to fix HIL build 2012-09-10 11:38:13 +09:00
rmackay9 130f3b0030 AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called 2012-09-10 11:38:08 +09:00
rmackay9 7a265dbf61 AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete 2012-09-10 11:38:03 +09:00
rmackay9 0a6219695b AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately 
This reduces the delay between when data arrives and when it is used
by up to 1ms.

Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
 2012-09-10 11:37:33 +09:00
rmackay9 c965963d7b AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop 2012-08-28 17:02:07 +09:00
uncrustify ad51ac5e11 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h 2012-08-21 19:03:14 -07:00
uncrustify 323ab9acf4 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h 2012-08-21 19:03:14 -07:00
uncrustify 8e5a031987 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.h 2012-08-21 19:03:14 -07:00
uncrustify ac3960b3e7 uncrustify libraries/AP_InertialSensor/AP_InertialSensor.h 2012-08-21 19:03:14 -07:00
uncrustify e6c2616769 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp 2012-08-21 19:03:14 -07:00
uncrustify 77729b847f uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp 2012-08-21 19:03:14 -07:00
uncrustify 0c322fb18a uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp 2012-08-21 19:03:14 -07:00
uncrustify 25eaeff6a8 uncrustify libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde 2012-08-21 19:03:14 -07:00
Andrew Tridgell 0763bbd1af MPU6000: fixed some build warnings 2012-08-09 16:19:21 +10:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
rmackay9 5077674043 AP_InertialSensor_MPU6000: another attempt at fixing the SITL build 2012-07-28 17:19:19 +09:00
rmackay9 7683e9d870 AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully) 
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
 2012-07-28 16:33:04 +09:00
rmackay9 48074f4766 AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning 2012-07-28 15:22:37 +09:00
rmackay9 6cd0918134 AP_InertialSensor: methods added to access DMP functionality 2012-07-28 14:14:43 +09:00
Jason Short c9d3ab5413 Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Andrew Tridgell acc6adf6e9 MPU6k: removed an unused variable 2012-06-29 21:54:09 +10:00
Craig Elder 69bf5700cd IMU: expose IMU_PRODUCT_ID as EEPROM Variable 
this will allow us to log the Product ID in tlogs
 2012-05-09 18:30:36 -07:00
Craig Elder 4a1d8b0875 AP_InertialSensor: Return product ID from sensor initialization 
this exposes the product ID to the IMU Layer
 2012-05-09 18:30:36 -07:00
Craig Elder ed99940bee MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D 
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
 2012-05-09 18:30:35 -07:00
Andrew Tridgell 2dd655d87d MPU6k: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell b02ca58901 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell 9296ac494d AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 3e960f8ef9 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell a9dea35310 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Randy Mackay ed19c25a97 Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h". 
Modified FastSerial's write function to return size_t (number of bytes written).
 2012-01-28 12:25:47 +09:00
Andrew Tridgell e1c9c063a5 MPU6k: don't init the Wire library 
we don't use Wire any more
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 6ca613337b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell 18d26dc74e MPU6000: minor fixes 
the hardware functions should be private, and cs_pin should be uint8_t
 2011-12-28 16:00:48 +11:00
Andrew Tridgell 04daeab7c0 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 10ca54ef8f MPU6000: use data ready interrupt to prevent stale data 
We listen for a data ready interrupt and only read new data in read()
if there is new data
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 760aa62c75 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Andrew Tridgell b72f9c2e9f added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell f97b405b56 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell bc9e943969 rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 97f8d21c1b added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell d442bad413 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell 9591317dbc ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Andrew Tridgell 41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey d2a0bd35f4 hil-sensors: added stub libraries for InertialSensor and PeriodicProcess 
* Also added dummy ivar to APM_BMP085_hil
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 8245835ea3 desktop: make AP_InertialSensor pure virtual 
fixed a link error in Desktop build

thanks to Pat for the C++ foo
 2011-11-25 20:00:17 -08:00
Pat Hickey 82b48784ef purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00