Commit Graph

22 Commits

Author SHA1 Message Date
Andy Piper 29e8f96275 AP_InertialSensor: move frontend update into ramfunc. 2022-04-12 09:19:45 +10:00
Andy Piper c7a43f2a90 AP_InertialSensor: put some functions in fast ram
precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
2022-02-09 12:47:55 +00:00
Andrew Tridgell bf999f701f AP_InertialSensor: fixed ICM-20602 y offset bug
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.

The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
2021-02-24 18:18:37 +11:00
Andrew Tridgell cfc59497f6 AP_InertialSensor: trigger internal error on persistent IMU reset
this will give users a warning when they are getting the Invensense
IMU FIFO reset issue
2020-09-02 06:42:44 +10:00
Andy Piper e53a43461b AP_InertialSensor: remove ICM gyro pre-filter 2020-08-04 09:24:16 +10:00
Andy Piper d4ba821297 AP_InertialSensor: make the backend fast gyro rate configurable and independent from the accel rate
allow fast sampling of gyros on MPU6000 and MPU6500
2020-07-28 20:47:16 +10:00
Andy Piper faf9bbbf3a AP_InertialSensor: make the backend fast gyro rate configurable
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
Andrew Tridgell 1c92ecc89f AP_InertialSensor: removed old method of specifying most IMUs
and removed dangerous default values for rotations
2019-08-28 06:54:11 +10:00
Peter Barker ef860db558 AP_InertialSensor: add floating point constant designators 2019-04-05 23:04:17 -07:00
na 494a3f86ad AP_IntertialSensor: support ICM20601 IMU 2019-03-28 09:15:27 +11:00
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 ca9d1a55fe AP_InertialSensor: support ICM-20689 IMU
like the 20789, but without the baro
2018-04-24 08:03:46 +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 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 5a4f0fed2d AP_InertialSensor: added ICM-20789 support 2018-02-08 17:36:33 +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
Lucas De Marchi 06fe5ce8ba AP_InertialSensor: implement periodic thread for AuxiliaryBus 2017-09-11 09:52:41 -07:00
Andrew Tridgell c952e58edb AP_InertialSensor: fixed invensense driver temp reading
different parts have quite different zero offsets in temperature
2017-04-03 10:06:27 +10:00
Andrew Tridgell 875274e761 AP_InertialSensor: added support for ICM-20602
treat the same as a 20608
2017-03-02 14:21:36 +11:00
Lucas De Marchi 2d50eb312c AP_InertialSensor: add support to MPU6500
Just like and MPU9250 without mag and with different WHOAMI register.
2017-02-26 13:37:13 +11:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature
Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
Andrew Tridgell 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