b5cd3370eb
AP_InertialSensor: add missing include for AHRS
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we use a method from this library
2024-09-06 08:52:01 +10:00
a0c57291d7
AP_InertialSensor: correct compilation when logging disabled
2024-09-02 11:53:12 +10:00
98f3a4b7d5
AP_InertialSensor: allow backend filters to be updated independently from a separate thread
2024-08-23 18:34:28 +10:00
89297737ea
AP_InertialSensor: move to new constant dt low pass filter class
2024-08-20 09:09:41 +10:00
f389549d5d
AP_InertialSensor: correct warnings on static_assert requiring a message
2024-08-13 08:38:00 +10:00
66817e207f
AP_InertialSensor: Check the gyro/accel id has not been previously registered
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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.
2024-07-25 09:49:35 +10:00
c771440ea4
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.
2024-07-23 11:59:49 +10:00
ef0de65347
AP_InertialSensor: tidy IMU killing
2024-07-10 18:17:00 +10:00
e48044dc45
AP_InertialSensor: Clearly state the maximum G-force
2024-07-10 10:07:16 +10:00
a86f4fdc8f
AP_InertialSensor: move gyro and accel instance ids into AP_InertialSensor_Backend
2024-06-26 17:14:56 +10:00
8ddac54b17
AP_InertialSensor: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
e9d39d80f4
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.
2024-06-07 19:44:48 +10:00
e97a6c7089
AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
a0acccb1f9
AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
f78eb58fb4
AP_InertialSensor: ensure that notches get updated while converging
2024-05-03 07:34:21 +10:00
30877cf11f
AP_InertialSensor: allow FIFO rate logging for hires sampling
2024-05-02 11:01:20 +10:00
9dbc61f85b
AP_InertialSensor: Fix parameter name when saving persistent accel cals for Aux IMUs
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Without this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU3_ACCOFFS_*
After this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU4_ACCOFFS_*
2024-04-05 11:02:04 +11:00
ac271cf4e0
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.
2024-03-26 11:39:11 +11:00
6de3cce480
AP_InertialSensor: allow HarmonicNotches to be compiled out of the code
2024-03-19 07:04:13 +11:00
7353001646
AP_InertialSensor: adjust logging descriptions
2024-03-16 06:54:27 +11:00
d7d854a60f
AP_InertialSensor: call logging function for notch centers and harmonics
2024-03-16 06:54:27 +11:00
88fb38b524
AP_InertialSensor: added comments
2024-03-16 06:54:27 +11:00
25ffcc1580
AP_InertialSensor: use num_composite_notches()
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this prevents duplication of the logic for the priority of the double
notch vs the triple notch option
2024-03-16 06:54:27 +11:00
08ccead215
AP_InertialSensor: fixed num_filters to be uint16_t
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max is more than 256
2024-03-16 06:54:27 +11:00
de8bec596e
AP_InertialSensor: removed zero checks and clamping on notch filters
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and pass params object down into HarmonicNotchFilter
2024-03-16 06:54:27 +11:00
5b1cac268b
INS_generic: Use new default for reboot
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2024-03-12 21:13:41 +11:00
66ff84e6fb
AP_InertialSensor: fixed wait_for_sample() in examples
2024-02-28 19:22:14 +11:00
280bc3a285
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
2024-02-27 21:10:20 +11:00
477fa3e161
AP_InertialSensor: move logger object up to AP_Vehicle
2024-02-13 10:54:29 +11:00
fdf56c2ec4
AP_InertialSensor: Move accel/gyro_consistent to AP_IntertialSensor
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Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
2024-02-09 18:54:43 +11:00
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
Peter Barker
Andy Piper
Iampete1
James O'Shannessy
muramura
Andrew Tridgell
Patrick José Pereira
Hayden Donald