2d8d6b2459
AP_InertialSensor: allow specification of sample rate in init() call
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this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen.
This also changes the MPU6k filtering to be less than half the sample
rate
2012-11-30 07:15:18 +11:00
3646b4b846
INS: switch to SREG = oldSREG pattern for interrupt mask/restore
2012-11-20 22:31:23 +11:00
f2744f8ff7
INS: use vector subtraction to make code clearer
2012-11-20 18:32:27 +11:00
317b719a62
AP_InertialSensor: correct typo to datasheet's filename
2012-11-20 00:37:42 +09:00
e2b1cb7e8d
AP_InertialSensor: changes after review with Tridge.
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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
e835cef181
AP_InertialSensor: merge in calibration features from IMU library
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add gauss-newton method of accelerometer calibration
2012-11-07 19:20:27 +09:00
1cd4b08fac
AP_AHRS: added scheduler parameter to init
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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
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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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
2fd9022f03
ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)
2012-09-28 18:34:23 +09:00
3306ba95a7
MPU6k: save 72 bytes of memory
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the buffer can be on the stack
2012-09-18 13:58:50 +10:00
d8142c2351
AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called
2012-09-10 11:38:08 +09:00
bd3eab7c0f
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
3901387c8d
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
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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
67252c8a9b
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
9d7ca3a876
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
2012-08-21 19:03:14 -07:00
0491188c03
MPU6000: fixed some build warnings
2012-08-09 16:19:21 +10:00
23a1e33e20
AP_InertialSensor_MPU6000: another attempt at fixing the SITL build
2012-07-28 17:19:19 +09:00
06a4aaa763
AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)
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Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
2012-07-28 16:33:04 +09:00
dfea845c37
AP_InertialSensor: methods added to access DMP functionality
2012-07-28 14:14:43 +09:00
fe742f1c23
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
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this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
c323a71933
AP_InertialSensor: Return product ID from sensor initialization
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this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
b824a87b90
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
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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
76a3fd9a4e
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
f46fba54dc
AP_InertialSensor: added a get_gyro_drift_rate() interface
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this returns the expected max drift rate for the particular type of
gyro being used
2012-03-10 10:34:33 +11:00
a052aa8435
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
98f3386ea0
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
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Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
1cb8728a6b
MPU6000: protect the driver from double initialisation
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initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
f2bbfb1296
MPU6000: minor fixes
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the hardware functions should be private, and cs_pin should be uint8_t
2011-12-28 16:00:48 +11:00
df0d151891
MPU6000: change to 98Hz low pass filter
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based on recommendation from Pat
2011-12-26 19:17:11 +11:00
3ef707a2c3
MPU6000: use data ready interrupt to prevent stale data
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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
cef1c4c558
MPU6k: update driver for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
eac625ba8f
rollover is not a bug
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subtracting unsigned numbers does the right thing
2011-12-21 23:31:38 +11:00
eec5f000b5
added code format markers to AP_InertialSensor library
2011-12-21 23:31:38 +11:00
6710cf5c5a
Wire and SPI Init: move to sketch system.pde from libraries
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* 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
db8708911a
purple: added AP_InertialSensor library
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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
Andrew Tridgell
rmackay9
uncrustify
Craig Elder
Pat Hickey