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966 Commits

Author SHA1 Message Date
Andrew Tridgell 81cd103073 AP_InertialSensor: probe for new v2 invensense IMUs 
also suppress LSM9DS0 whoami warnings, as these will now be common
with new IMUs

and make 20602 show up as a new devtype so we can distinguish it
 2019-03-11 12:40:21 +11:00
Andrew Tridgell dff3ea416c AP_InertialSensor: allow for LSM9DS0 to be used on I2C 2019-03-10 09:03:06 +11:00
Siddharth Purohit 086b4c1cfd AP_InertialSensor: use default value for temperature scale and offset 2019-03-06 20:47:10 +11:00
Siddharth Purohit b76ec8cc11 AP_InertialSensor: fix slave register structure for Invensensev2 2019-03-06 20:47:10 +11:00
Siddharth Purohit 528c0b4d7c AP_InertialSensor: add drivers for register bank based Invensense Sensors 2019-03-06 20:47:10 +11:00
Siddharth Purohit 0cfcd0986e AP_InertialSensor: look for icm20602 for Pixhawk 2 series flight boards 2019-03-06 20:47:10 +11:00
Andrew Tridgell 103af72859 AP_InertialSensor: remove more px4 remnants 2019-02-27 20:32:37 +11:00
Andrew Tridgell 2b285089e9 AP_InertialSensor: widen allowable temp gap on invensense IMUs 
some sensors have more temperature noise
 2019-02-26 16:18:26 +11:00
Andrew Tridgell 07e2167996 AP_InertialSensor: setup for fmuv6 2019-02-26 16:18:26 +11:00
Tom Pittenger 9347e6d36f AP_InertialSensor: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell 6048c10a7c AP_InertialSensor: added driver for BMI088 
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
 2019-01-31 12:05:57 -08:00
Andrew Tridgell 9520f5f768 AP_InertialSensor: removed F4Light 2019-01-21 21:57:21 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 43e3acc954 AP_InertialSensor: remove use of never-set AP_HAL_PX4 and AP_HAL_VRBRAIN 2019-01-18 09:53:44 +11:00
Peter Barker 43e47f33e4 AP_InertialSensor: remove PX4 backend 2019-01-17 06:41:33 +11:00
Andrew Tridgell a84af85689 AP_InertialSensor: support fast sampling in SITL 
this allows testing of fast sample logs for FFT
 2019-01-08 21:04:05 +11:00
Andrew Tridgell 512c50a6c4 AP_InertialSensor: use SIM_VIB_FREQ for SITL vibrations 
this allows for testing of FFT on logs
 2019-01-08 06:49:02 +11:00
Michael du Breuil 983356213a AP_InertialSensor: Remove unused parameter 2018-12-23 12:46:37 -08:00
Randy Mackay 6b3fa520b5 AP_InertialSensor: add range to POS param description 2018-12-13 20:14:01 +09:00
Andrew Tridgell 3de860f73b AP_InertialSensor: fixed orientation of 2nd OmnibusF7V2 IMU 2018-12-12 16:27:34 +11:00
Peter Barker 011c93f38e AP_InertialSensor: add override keyword 2018-11-08 11:30:12 +11:00
Andrew Tridgell 755dc8dc5d AP_InertialSensor: use WITH_SEMAPHORE() 
and removed usage of hal.util->new_semaphore()
 2018-10-17 12:54:22 +11:00
Michael du Breuil f51d757844 AP_InertialSensor: Remove unused (and conflicting in some builds) include 2018-10-02 07:09:41 +10:00
Peter Barker 04c36efdbf AP_InertialSensor: eliminate SITL float-equals issues 2018-08-28 09:54:47 +10:00
Michael du Breuil 1efad07a84 AP_InertialSensor: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell 5f8b57ba19 AP_InertialSensor: added SITL device IDs 2018-07-13 10:19:01 +10:00
Lucas De Marchi 49d08ba72a Global: remove minlure 
Minlure is a port of ArduPilot to Minnow Board connected to daughter
board. Very few of those were produced and nobody is flying with it.

It served its purpose and all the the improvements to ArduPilot remain
regardless of it not being supported anymore. Now it's just adding
maintenance work with no clear benefit, so pull the plug.
 2018-06-26 07:32:08 -07:00
Patrick José Pereira 0c06bf89e5 AP_InertialSensor: Use SITL singleton 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-26 00:02:01 +01:00
Andrew Tridgell 89b8124560 AP_InertialSensor: added BMI055 IMU driver 2018-06-08 09:56:41 +10:00
Andrew Tridgell bfa66c9397 AP_InertialSensor: detect two IMUs on FMUv5 2018-06-06 07:15:41 +10:00
Francisco Ferreira 8b32960d3e AP_InertialSensor: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
Peter Barker 1a640e3405 AP_InertialSensor: parameterise sensor-rate logging, generalise it 
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
Andrew Tridgell 44131202cd AP_InertialSensor: 4kHz batch sampling 2018-05-01 09:35:29 +10:00
Jacob Walser ad4e928e7d AP_InertialSensor: add support for custom board orientations 2018-04-24 13:04:37 +01:00
Andrew Tridgell ca9d1a55fe AP_InertialSensor: support ICM-20689 IMU 
like the 20789, but without the baro
 2018-04-24 08:03:46 +10:00
Andrew Tridgell ea2dc9b831 AP_InertialSensor: added OMNIBUSF7V2 INS sensors 
a dual-IMU board
 2018-04-12 11:50:44 +10:00
Andrew Tridgell f788cde5c7 AP_InertialSensor: use multiply for fifo scale factors 
this fixes issue from #8118 too
 2018-04-10 14:17:16 +10:00
Peter Barker be634a893f AP_InertialSensor: remove unused ins error count logging 2018-04-04 14:21:20 +01:00
Peter Barker aca87ab638 AP_InertialSensor: remove pointless initialisations 
AP_InertialSensor: avoid pointless zeroing in constructor

AP_InertialSensor is either in bss or is created via new (which zeroes
memory)
 2018-04-04 12:14:02 +01:00
Peter Barker 2396a248ed AP_InertialSensor: use ahrs singleton for simple accelcal 2018-04-02 23:25:05 +01:00
Lucas De Marchi c4e8aeb105 AP_InertialSensor: remove linux-only include 
We already include AP_HAL.h that includes the platform-agnostic gpio
header, which is all that this driver needs. This is an alternative
fix to #7794.
 2018-03-09 11:12:31 -08:00
Andrew Tridgell 53b76efbd2 AP_InerialSensor: setup INT_PIN_CFG correctly 
this restores the behavior lost with the 20789 driver change
 2018-03-08 21:25:14 -08:00
Andrew Tridgell e8726865ab AP_InertialSensor: Correct scaling of batch data 2018-03-08 18:00:16 -08:00
Andrew Tridgell 455c0e25e1 AP_InertialSensor: allow for HAL_INS_NONE 2018-03-02 12:52:50 +11:00
Peter Barker 4288133ce0 AP_InertialSensor: correct compiler warning 
../../libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h:108:14:
warning: private field '_error_count' is not used
[-Wunused-private-field]
    uint16_t _error_count;
 2018-03-02 09:26:37 +09:00
Andrew Tridgell b61caa9c57 AP_InertialSensor: added SP01 board type 2018-02-14 18:27:00 +11:00
Peter Barker 096f7367bf AP_InertialSensor: add ins() to AP:: namespace 2018-02-13 17:15:05 +11:00
Andrew Tridgell b5e5b622c7 AP_InertialSensor: use register header for Revo driver 2018-02-10 09:14:41 +11:00
Andrew Tridgell 0e6497aa85 AP_InertialSensor: merged in Revo driver 2018-02-10 09:14:41 +11:00
Andrew Tridgell b380143349 AP_InertialSensor: improved handling of I2C invensense sensor 
on I2C the lower bus bandwidth changes the tradeoffs
 2018-02-08 17:36:33 +11:00
Andrew Tridgell b33c815e96 AP_InertialSensor: added whoami for prototype 20789 2018-02-08 17:36:33 +11:00
Andrew Tridgell ad8db6cda3 AP_InertialSensor: added sensor type ICM20789_SPI 2018-02-08 17:36:33 +11:00
Andrew Tridgell b9e5649888 AP_InertialSensor: support PCNC1 2018-02-08 17:36:33 +11:00
Peter Barker 71cf3941a7 AP_InertialSensor: move Invensense register defines into separate file 2018-02-08 17:36:33 +11:00
Peter Barker 3ee112843c AP_InertialSensor: configure bypass for 20789 like we do for AK8963 2018-02-08 17:36:33 +11:00
Peter Barker 5d94172ada AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in user_ctrl 
This bit should never be set on 20789
 2018-02-08 17:36:33 +11:00
Andrew Tridgell 5a4f0fed2d AP_InertialSensor: added ICM-20789 support 2018-02-08 17:36:33 +11:00
Andrew Tridgell f4521772c1 AP_InertialSensor: don't try fast sampling on a MPU6500 
it can't do it
 2018-02-07 20:33:45 +11:00
Andrew Tridgell d575d676b6 AP_InertialSensor: fixed another transfer without bus semaphore 2018-02-07 20:33:45 +11:00
Andrew Tridgell 2ffb8d1583 AP_InertialSensor: fixed a bug where bus semaphore not held 
during init of the invensense driver we could do a transfer without
the bus semaphore held. That violates the locking rules for the bus
 2018-02-07 20:33:45 +11:00
Igor Anokhin e6d4b2a087 AP_InertialSensor: add LSM9DS1 entry 
Enable LSM9DS1 in case it is selected
 2018-02-06 09:31:26 -08:00
Igor Anokhin be386b2b73 AP_InertialSensor: LSM9DS1 add FIFO support 
Make reading data with FIFO
 2018-02-06 09:31:26 -08:00
Igor Anokhin 44d5112488 AP_InertialSensor: add LSM9DS1 support 
Make LSM9DS1 driver
 2018-02-06 09:31:26 -08:00
LukeMike 502f19cbae VRBRAIN / AP_InertialSensor: added inertial sensors init for VR Brain boards 2018-02-05 08:26:49 +11:00
Randy Mackay 9ea16bec15 AP_InertialSensor: resolve compiler warning in example 2018-01-23 08:32:48 +09:00
Andrew Tridgell 100363ba03 AP_InertialSensor: if no sensors found allow parameter change 2018-01-20 10:36:22 +11:00
Andrew Tridgell 24c424ae5d AP_InertialSensor: support over 1kHz IMUs 
this allows for invensense IMUs to run above 1kHz by adjusting the
downsampling rate
 2018-01-20 10:36:22 +11:00
Andrew Tridgell c0c5f23aa5 AP_InertialSensor: added INS_ENABLE_MASK 
this allows for only a specified subset of IMUs to be probed, so you
can disable IMUs that aren't needed.

The back corresponds to bits in the order the IMUs are normally probed
on the board
 2018-01-20 10:36:22 +11:00
Andrew Tridgell 9416165fe3 AP_InertialSensor: improved invensense debugging on ChibiOS 2018-01-20 10:36:22 +11:00
Andrew Tridgell 8ab35e8aca AP_InertialSensor: fixed MindPX-v2 orientation of IMU2 2018-01-15 11:46:02 +11:00
Andrew Tridgell dcab40459d AP_InertialSensor: support MindPX-v2 2018-01-15 11:46:02 +11:00
Andrew Tridgell febe414766 AP_InertialSensor: disable fast sampling on 2nd IMU on Pixracer 
it also hosts a mag, and gets lots of FIFO resets if we try to run it
at 8kHz
 2018-01-15 11:46:02 +11:00
Andrew Tridgell 3fc095589c AP_InertialSensor: support ChibiOS FMUv4 2018-01-15 11:46:02 +11:00
bugobliterator 1c6beaa7c4 AP_InertialSensor: use new API for DMA safe allocation 2018-01-15 11:46:02 +11:00
Andrew Tridgell 39362a81ae AP_InertialSensor: support ChibiOS 2018-01-15 11:46:02 +11:00
Tom Pittenger 36f06d3576 AP_InertialSensor: remove AP_InertialSensor_UserInteract 
leftover dead code from when CLI was removed
 2018-01-11 08:11:07 +11:00
Pierre Kancir 8c8767e964 AP_InertialSensor: reduce QURT include scope 2017-12-27 15:13:30 +00:00
Andrew Tridgell 99499dece2 AP_InertialSensor: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
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
Andrew Tridgell a0af4af5b5 AP_InertialSensor: debugging code for EK2 bug 2017-12-12 11:39:38 +11:00
Randy Mackay 38145f9541 AP_InertialSensor: fix param docs for notch and log settings 2017-12-12 07:59:41 +09:00
Peter Barker 161e2145cb AP_InertialSensor: tighten type of simple_accel_cal result 2017-12-01 17:01:10 +00:00
HeBin c056076e85 AP_InertialSensor: fix code style problem, delete useless codes 2017-11-22 10:20:00 -08:00
HeBin efbb030494 AP_InertialSensor: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
Andrew Tridgell eab1d3af4f AP_InertialSensor: don't apply offsets in SITL backend 
the offsets are applied in the rotate and correct methods
 2017-11-01 17:09:21 +11:00
Peter Barker b997f445ff AP_InertialSensor: include sample count in ISBH 2017-10-27 16:33:45 +11:00
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
Alexey Bulatov 069c98b8a9 AP_InertialSensor: Edge: add sensor's rotation YAW_90 2017-10-20 13:03:08 -07:00
Georgii Staroselskii ac6f7511bd AP_InertialSensor: examples: print temperature 2017-10-20 13:03:08 -07:00
Georgii Staroselskii 4f2d8f8df4 AP_InertialSensor: use ICM backend for Edge 2017-10-20 13:03:08 -07:00
Andrew Tridgell 6a6f9681ab AP_InertialSensor: allow for 1,1,1 accel scaling 
this supports simple accel calibration
 2017-10-10 10:57:38 +11:00
Andrew Tridgell f513c1c8dd AP_InertialSensor: support rotated IMUs in SITL 2017-10-10 10:57:38 +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 b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi d566567d87 AP_InertialSensor: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi caa4e3ee89 AP_InertialSensor: remove raspilot 2017-09-12 15:06:19 -07:00