a30745903a
AP_InertialSensor: use ACC2_BIAS
2016-12-19 08:07:15 +11:00
60ebe97e10
AP_InertialSensor: remove unused EKF1 include
2016-12-19 08:07:11 +11:00
65b9b86099
AP_InertialSensor: unify MPU6000 and MPU9250 drivers
...
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
2016-12-16 12:31:34 +11:00
de05e6ba29
InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 12:39:30 -08:00
13c16e187f
InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 10:59:45 -08:00
dfd58cc57b
AP_InertialSensor: fix build warning for MPU9250
2016-11-30 18:00:14 +09:00
699279ed1f
AP_InertialSensor: fix build warning for MPU6000
2016-11-30 18:00:13 +09:00
f9845c93b1
AP_InertialSensor: keep transfers nicely setup for DMA on stm32
...
this avoids using stack based bounce buffers which may not support DMA
on stm32
2016-11-27 11:26:10 +11:00
771cedca3d
AP_InertialSensor: reduced number of SPI transfers
...
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
2016-11-26 19:02:22 +11:00
27605b0258
AP_InertialSensor: run invensese reg checking at low speed
...
config register read/write should be at low bus speed.
also change to check every 20 calls to reduce checking cost
2016-11-25 20:31:40 +11:00
0f984290c3
AP_InertialSensor: enable fast sampling by default on some boards
2016-11-25 17:59:54 +11:00
f3a778f980
AP_InertialSensor: fixed freeing of fifo buffer
2016-11-25 17:50:19 +11:00
6f28c61c8d
AP_InertialSensor: changed SIZE to LEN
...
thanks to Lucas for suggestion
2016-11-25 17:50:19 +11:00
cb7f46d653
AP_InertialSensor: fixed handling of user_ctrl register
...
with aux bus implementations
2016-11-25 17:50:18 +11:00
9b4c588c09
AP_InertialSensor: adapt drivers for SPI-DMA capable systems
...
no longer need accumulate() transfers with SPI enabled DMA on stm32
2016-11-25 17:49:58 +11:00
28daddaaf2
AP_InertialSensor: don't use accumulate approach on Linux or I2C
2016-11-25 17:49:57 +11:00
d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
...
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.
It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.
Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.
Thanks to Leonard and Paul for help with this design!
2016-11-25 17:49:57 +11:00
87c6d5da13
AP_InertialSensor: replace panic() with return
...
When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
2016-11-21 18:04:10 -02:00
6129b1abb6
AP_InertialSensor: wait forever for semaphore on startup
...
some boards take a silly amount of time to get semaphore on startup
2016-11-21 17:57:21 -02:00
216cf53922
AP_InertialSensor: handle FIFO overflow for MPU6k and 9250
...
this prevents temporary corruption of INS data on FIFO overflow
2016-11-19 12:54:22 +11:00
18d4286166
AP_InertialSensor: fixed pixfalcon 9250 detection
2016-11-18 14:24:39 +11:00
cb1a5d4c74
AP_InertialSensor: take semaphore for update of accumulators
...
this fixes a race in update of delta angle and delta velocity between
backend and frontend
2016-11-18 06:32:17 +11:00
f3f1f6b0b6
AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk
2016-11-16 20:33:56 +11:00
6af00027ab
AP_InertialSensor: removed unused variables
...
thanks to Francisco for noticing
2016-11-16 08:41:06 +11:00
bfbb275577
AP_InertialSensor: on accel cal failure don't save values to zero
...
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
2016-11-15 11:42:54 -08:00
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
c0303ffe8a
AP_InertialSensor: temporarily disable fast sampling
...
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
2016-11-14 18:18:17 +11:00
c794ad9ee8
AP_InertialSensor: use smaller FIFO buffers
...
this allows for reading multiple chunks from the fifo per callback
2016-11-13 13:16:22 +11:00
8d19808152
AP_InertialSensor: fixed missing checked register goto
...
thanks to Francisco for spotting
2016-11-11 08:08:56 +11:00
49856c37f2
AP_InertialSensor: reduce checked register count
...
thanks to Francisco for spotting this
2016-11-11 08:08:56 +11:00
4be8f05ad4
AP_InertialSensor: added register checking for LSM9DS0
2016-11-11 08:08:56 +11:00
77a83c091a
AP_InertialSensor: added register checking for MPU6000/ICM20608
2016-11-11 08:08:56 +11:00
95a849f472
AP_InertialSensor: added register checking for MPU9250
2016-11-11 08:08:56 +11:00
3289e90134
AP_InertialSensor: added error count increments in drivers
2016-11-11 08:08:55 +11:00
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
af0ec41652
AP_InertialSensor: fixed accel clip detection with fast sampling
...
we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
2016-11-10 13:04:15 +11:00
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
e27a76e460
AP_InertialSensor: fixed auxiliary bus with FIFO enabled
...
make sure fifo reset doesn't check I2C master enable
2016-11-10 11:44:51 +11:00
46785e8ecf
AP_InertialSensor: improved method for FIFO integrity checking
...
check temperature every 255 samples against FIFO data
2016-11-10 11:44:51 +11:00
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
e25a391a8f
AP_InertialSensor: fixed typo
2016-11-09 17:08:15 +11:00
d2f6a514b9
AP_InertialSensor: catch FIFO alignment errors using temperature reading
...
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
2016-11-09 17:08:15 +11:00
d248b33104
AP_InertialSensor: simplify config of MPU6000
...
use zero sample rate divider on both MPU6000 and ICM20608
2016-11-09 17:08:14 +11:00
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
...
very slightly faster
2016-11-09 17:08:13 +11:00
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
2016-11-09 17:08:12 +11:00
af1c5fd6d3
AP_InertialSensor: always use FIFO on MPU6000
...
and enable fast sampling on ICM20608 if on SPI
2016-11-09 17:08:12 +11:00
fde80a9408
AP_InertialSensor: modify LSM303D settings to match PX4 driver
...
this allows existing accel calibration to be used
2016-11-09 17:08:12 +11:00
a9a5e50bd1
AP_InertialSensor: removed timer callback for MPU6000
...
Thanks to Lucas for pointing out this is not needed
2016-11-09 17:08:11 +11:00
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
...
handle missing devices
2016-11-09 17:08:10 +11:00
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +11:00
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
2016-11-09 17:08:07 +11:00
106a91c64c
AP_InertialSensor: use init_gyro() on startup
...
this saves the calibration parameters which should be done on
calibration
2016-11-09 17:08:07 +11:00
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
2016-11-09 17:08:07 +11:00
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +11:00
aa4025bdf9
AP_InertialSensor: make INS sensor IDs match for PX4
...
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
104e29acf2
AP_InertialSensor: MPU6000: change accel scale to 16G
...
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
2016-11-09 17:08:06 +11:00
dc09661b9e
AP_InertialSensor: MPU6000: save driver version
...
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
2016-11-09 17:08:06 +11:00
0d3adef8b2
AP_InertialSensor: MPU6000: remove TODO leftover
...
This will never be done as blindly changing speed is not the way to fix
communication issues.
2016-11-09 17:08:05 +11:00
0a1616cc71
AP_InertialSensor: use correct device IDs on PX4 driver
2016-11-09 17:08:05 +11:00
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
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
f81dba2100
AP_InertialSensor: add doc to get_id() of backend
...
This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
2016-11-09 17:08:05 +11:00
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
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
ac2c25539b
AP_InertialSensor: implement device IDs for AuxilaryBus
2016-11-09 17:08:04 +11:00
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
2016-11-09 17:08:04 +11:00
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
38ff8b3536
AP_InertialSensor: removed unused product_id function in L3G4200D
2016-11-09 17:08:01 +11:00
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
...
use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
b92c48548a
AP_InertialSensor: added per-instance rotation for LSM9DS0
2016-11-09 17:08:00 +11:00
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
ac2572384d
AP_InertialSensor: added start() method for LSM9DS0
...
needed to get sensor ordering right on multi-sensor boards
2016-11-09 17:08:00 +11:00
7832f1a1b6
AP_InertialSensor: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
90dc9e3327
AP_InertialSensor: dummy implementation of register_periodic_callback()
...
for AuxiliaryBus
2016-11-09 17:07:55 +11:00
91c4bf470f
AP_InertialSensor: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
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
afe2c31ae7
AP_Inertial_Sensor: use const reference
2016-10-27 15:06:11 +11:00
7460d97c9a
AP_InertialSensor: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
470f5c4562
AP_InertialSensor: Correct SITL IMU1 accel for position in body frame
2016-10-27 14:54:45 +11:00
54a431a51d
AP_InertialSensor: Update position offset parameter documentation
...
Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
2016-10-27 14:54:43 +11:00
6db93d8a21
AP_InertialSensor: Add parameters defining accelerometer position offset
2016-10-27 14:54:41 +11:00
0e19b8c9a0
AP_HAL_Linux: Set initial rotation on Dark to None
2016-10-24 10:00:24 -02:00
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
17883f6683
AP_InertialSensor: fix INS_generic example (call BoardConfig.init())
2016-10-24 11:00:22 +09:00
ae53920e5b
build: don't build examples with old build system
...
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file. Having the makefiles
there is misleading since people try to build and realize the build is
broken.
2016-10-11 13:03:08 +11:00
714c8fd318
AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop
...
Already present on Disco
2016-10-03 12:20:03 -03:00
6f9530ebaa
AP_InertialSensor: added optional FSYNC external sync bit
...
used to synchronise with image sensor on Disco
2016-09-05 12:55:32 +10:00
68fe536da3
AP_InertialSensor: use BMI160 for Intel Aero
2016-09-03 01:03:07 -03:00
b6c0e11200
AP_InertialSensor: BMI160: convert it to use Device periodic callback
...
Some notes:
- The only place that made sense to use
suspend_timer_procs()/resume_timer_procs() calls were where we registered
the timer process. Now there's no need for that anymore. Remove those calls
from other place in the source too.
- There's no need to acquire the device lock now that we are running as a
periodic callback.
2016-09-03 01:03:07 -03:00
a4d0ad8571
AP_InertialSensor: Fix name of sensor
2016-08-23 11:25:59 +09:00
36bdd7f1f1
AP_InertialSensor: MPU6000: Add missing read() check
2016-08-03 00:18:20 -03:00
Andrew Tridgell
priseborough
Pierre Kancir
Randy Mackay
hiro2233
Lucas De Marchi
Francisco Ferreira
murata
Martin Evans
Mathieu OTHACEHE
Peter Barker
Julien Beraud
Gustavo Jose de Sousa
mirkix
Murilo Belluzzo