764dd273ae
AP_InertialSensor: Check the gyro/accel id has not been previously registered
...
If the Gyro/Accel ID is already in the registered list, do not try to add it again.
This stops an issue seen on a CubeOrangePlus BG3 where, during the very first boot after a parameter wipe, software incorrectly registers a fourth IMU.
The Fourth IMU is registered because the AUX IMU is the same DevID as the third ICM45686.
2024-08-21 17:10:45 +10:00
d1b6eea4ee
AP_InertialSensor: Fix persistent storing of IMU Z Scale
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Fixes INSn_ACCSCAL_Z not being stored in persistent storage when bootloader is flashed.
2024-08-21 17:10:45 +10:00
c787525c3b
AP_InertialSensor: Improve bitmask indicating persistent parameters on bootloader flash
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INS_TCAL_OPTIONS parameter description indicates a singular bit in a bitmask to persist Accels/TCAL parameters, however there are two separate bits for persistence.
2024-07-03 10:30:07 +09:00
b5b5be559e
AP_InertialSensor: fixed ICM42670
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highres sampling is not working on the ICM42670 on some versions of
the Pixhawk6X. Disable for now.
2024-06-15 08:17:03 +09:00
471079d5b6
AP_InertialSensor: allow FIFO rate logging for hires sampling
2024-05-16 10:59:52 +10:00
431ef6b4ba
AP_InertialSensor: fixed accel cal simple to remove unused IMUs
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when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
2024-03-14 09:33:55 +09:00
6a897f01d8
AP_InertialSensor: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
1051da5cb4
AP_InertialSensor: correct compilation when AP_AHRS_ENABLED is off
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e.g. CubeOrange-periph-heavy
2024-01-16 16:14:04 +11:00
a81b229997
AP_InertialSensor: make AHRS attitude member variables private
2024-01-14 12:47:47 +11:00
9c8fa7f58c
AP_InertialSensor: fixed build of NONE backend
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conflict with rand_float()
2024-01-07 20:51:55 +11:00
4765ba8218
AP_InertialSensor: Specify the number of arrays by sizeof
2024-01-04 10:24:44 +11:00
68d8a2606d
AP_InertialSensor: SITL: call logging singleton methods only if available
2024-01-03 18:33:41 +11:00
da7c556f77
AP_InertialSensor: avoid fcntl.h
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allows mixing of lwip and sockets
2024-01-03 12:14:47 +11:00
aba5ec6854
AP_InertialSensor: added support for writing raw IMU data to a UART
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this is for supporting external visual odomotry systems which need the
IMU data to correctly process image data
# Conflicts:
# libraries/AP_InertialSensor/AP_InertialSensor.cpp
2023-11-30 07:05:02 +11:00
eb4e3fc36a
AP_InertialSensor: init all notch center frequencies
2023-11-28 18:05:37 +11:00
483d19f44c
AP_InertialSensor: apply stuck gyro fix to all IxM42xxx sensors
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TDK has confirmed this applies to all IxM42xxx sensors
2023-10-29 08:24:04 +11:00
7ca2a4da56
AP_InertialSensor: remove ICM42xxx defaults
2023-10-25 19:23:11 +11:00
2688848cd1
AP_InertialSensor: fixed orientation of batch sampled data
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we need to rotate the data so that FFT displays match the configured
orientation
2023-10-25 19:23:11 +11:00
0ebf9e7af5
AP_InertialSensor: pre-fetch instances for use in filter setup
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we use the instance numbers during filter configuration to check if
fast sampling is enabled. We need to ensure these instance numbers
have been setup before the filtering functions get called
2023-10-25 19:23:11 +11:00
a9e0bf070c
AP_InertialSensor: ensure indirect registers are not modified with sensors active on ICM-42688
2023-10-25 19:23:11 +11:00
da0b1402d3
AP_InertialSensor: add high-resolution reads for ICM45686
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enable high-resolution support on all ICM4xxxx sensors
create INS_HIRES_SAMPLE mask
adjust high-resolution sampling for correct byte ordering and depth
correct high resolution scaling on 18bit ICM4xxxx IMUs
control highres via HAL_INS_HIGHRES_SAMPLE
2023-10-25 19:23:11 +11:00
b6c9ac2569
AP_InertialSensor: added optional FIFO rate logging to invensensev3 driver
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this is useful for tracking down and confirming the stuck gyro issue
on the ICM42688
2023-10-22 15:09:40 +11:00
792d8a4cb8
AP_InertialSensor: fix for ICM42688 stuck gyro issue
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these undocumented bits in register 0x4d control the "adaptive full
scale range" mode of the ICM42688. The feature is enabled by default
but has a bug where it gives "stuck" gyro values for short periods
(between 1ms and 2ms):, leading to a significant gyro bias at longer
time scales, enough to in some cases cause a vehicle to crash if it is
unable to switch to an alternative IMU
this fixes https://github.com/ArduPilot/ardupilot/issues/25025
2023-10-22 15:09:40 +11:00
e35a459090
AP_InertialSensor: call init for harmonic notch params
2023-10-10 08:07:16 +09:00
6e26f088bf
AP_InertialSensor: fixed the error value for BMI088
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the bad value is -32768 not 0xffff (which is -1)
-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)
update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
2023-10-08 10:52:27 +11:00
3429276224
AP_InertialSensor: add INS_RAW_LOG_OPT to allow raw logging of post, and pre+post on primary or all gyros
2023-10-03 10:24:58 +11:00
732b074bee
AP_InertialSensor: update to support esp32
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- Remove whitespace
- Remove instance checks in AP_InertialSensor_NONE timer update
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-09-02 09:43:14 +10:00
baf5d34256
AP_InertialSensor: create define specifically for the developer feature for killing IMUs
2023-06-07 18:23:01 +10:00
217ba502ac
AP_InertialSensor: SCHA63T comment fix
2023-05-10 17:24:02 +10:00
9d9de678a5
AP_InertialSensor: SCHA63T loses unused ret bool
2023-05-10 17:24:02 +10:00
7c2a173f30
AP_InertialSensor: formatting fixes
2023-05-10 17:24:02 +10:00
458fbb7f90
AP_InertialSensor: add SCHA63T IMU support
2023-05-10 17:24:02 +10:00
a896ab9e71
AP_InertialSensor: quieten imu's on esp32
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less noisy
ins debug
imu
2023-05-02 14:38:03 +10:00
b76d6d827f
AP_InertialSensor: Factor accel cal in from GCS_MAVLink
2023-04-21 21:33:16 +10:00
6e1cd839d8
AP_InertialSensor: don't check MINIMIZE_FEATURES when also checking BOARD_FLASH_SIZE
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we have an assertion that no board with >1MB of flash is minimized
2023-04-15 09:33:35 +10:00
0f1253b393
AP_InertialSensor: the accel fast-sampling rate of MPU6500 is 4k,not 1k
2023-04-12 15:24:41 +10:00
13cdc8bda8
AP_InertialSensor: fix hardfault in BatchSampler
2023-04-05 18:22:03 +10:00
00858dce78
AP_InertialSensor: add buzzer noises
2023-04-05 09:05:14 +10:00
c9382cd221
AP_InertialSensor: HAL_WITH_DSP -> HAL_GYROFFT_ENABLED
2023-03-29 20:49:40 +11:00
3fada15681
AP_InertialSensor: correct access beyond array in Ins TCal
2023-03-28 21:25:11 +11:00
866e6672c8
AP_InertialSensor: fix duplicate sensor detection for AUX sensors
2023-03-23 13:53:44 +11:00
fee6f435ea
AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset
2023-03-23 13:53:28 +11:00
08bea2fcd2
AP_InertialSensor: move from INS_ top level parameters to INS
2023-03-21 10:04:16 +11:00
10439cc42e
AP_InertialSensor: add support for extra Aux IMUs
2023-03-21 10:04:16 +11:00
34a52142c8
AP_InertialSensor: added support using the 2nd IMU for heater control
2023-03-15 19:08:53 +11:00
77540dff07
AP_inertialSensor: BatchSampler: add enabled and initalised getters
2023-03-07 10:56:16 +11:00
a0fe53414c
AP_InertialSensor: removed the error count on BMI088 0xff data
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this error happens often enough that it is frustrating for users who
can't arm, which just encourages use of forced arming.
logs show this happening at a rate of once every few seconds, which
doesn't impact on the usability of the gyro (which is at 2kHz), but
does prevent arming with this error incremement
2023-02-28 11:28:25 +11:00
601c46f7e0
AP_InertialSensor: add gyro bias simulation
2023-02-24 09:21:42 +11:00
3cca401af8
AP_InertialSensor: calculate backend sample rates on ICM45686 correctly
2023-02-22 18:06:46 +11:00
5680c411e9
AP_InertialSensor: can check icm45686 RTC_CONFIG reg because reserved value changes
2023-02-22 18:06:46 +11:00
James O'Shannessy
Andrew Tridgell
Andy Piper
Peter Barker
muramura
Iampete1
Rhys Mainwaring
Randy Mackay
jfbblue0922
David Buzz
Michael du Breuil
Wu
bugobliterator
Henry Wurzburg