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49 Commits

Author SHA1 Message Date
Pat Hickey e53bcba4d9 purple: rework AP_IMU library to use AP_IntertialSensor library 
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
 2011-11-25 20:00:16 -08:00
Michael Oborne 8abd4bbd69 fix delta time in imu shim 2011-10-13 22:36:51 +08:00
Michael Oborne 7ef51f723d Sensor hil fix's 2011-10-13 22:22:03 +08:00
Jason Short 189fc194b6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short f89da12387 Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert 0c7c508541 Optional recursion added. 2011-09-30 17:17:51 -04:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Andrew Tridgell 9af7021a98 change ADC sample rate to 1kHz 
this costs us about 9% of our CPU, but should make aliasing much less
of a problem.
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 8b3d9400e5 IMU: re-work the IMU library to take advantage of the ADC Ch6() call 
This changes the IMU code to read 6 synchronised ADC channels at one
time, giving us matching values, and exposing the exact averaging time
to callers
 2011-09-17 14:58:02 +10:00
unknown a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
tridge60@gmail.com 9ead82f137 IMU: fixed HIL init with callback 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2988 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 23:35:37 +00:00
tridge60@gmail.com b6397c089d IMU: added delay callback hooks to IMU initialisation 
this allows the imu init() call to use a custom replacement for
delay(), which will allow for the processing of MAVLink packets during
IMU initialisation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2986 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:25 +00:00
jasonshort a16b00b5bf Added heavily filtered Accelerometer values for experimentation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2779 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-08 03:58:19 +00:00
jasonshort fe16f5d7a4 IMU speedup by shorting the temp calculation. If someone bothers to temp calibrate their sensors, they'll need to edit this shortcut. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2677 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-26 06:23:22 +00:00
jasonshort ec5035d1ec added optimization note 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2564 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:34:23 +00:00
james.goppert aa598b575a APO merge. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1935 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 02:05:17 +00:00
jasonshort 12a78ecbdb just formatting 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1887 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 04:55:32 +00:00
james.goppert@gmail.com c1b6032e7f Eclipse makefile support for examples. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1860 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 19:38:12 +00:00
tridge60@gmail.com 6268eae835 added dummy save() method to AP_IMU_Shim 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1781 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-18 01:34:00 +00:00
deweibel@gmail.com ec7c508207 Change gyro/accel calibration to guard against improper orientations or motion during cal 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1727 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-25 17:49:31 +00:00
mich146@hotmail.com a850e315c9 Fix hil issue 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1712 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-21 23:16:57 +00:00
jasonshort 887a034fe9 added more time to IMU startup. added more accessors and removed private flag. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1702 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-20 23:10:18 +00:00
mich146@hotmail.com ee0c1176d5 fix imu shim 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1683 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 09:52:59 +00:00
jasonshort bda94006a1 Added accessors back for Accels. I need them there until we need to find another solution. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1676 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 03:57:19 +00:00
DrZiplok@gmail.com 86fda84749 Use AP_Var to store accel/gyro calibration. 
Refactor AP_IMU_Oilpan and remove all the old EEPROM code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1650 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:42:37 +00:00
deweibel@gmail.com 0b6454aa0b Speed IMU initialization 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1641 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 23:25:04 +00:00
jasonshort 80689920af Added getter functions to accels 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1503 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-16 20:42:11 +00:00
DrZiplok 669e276da6 Curse you, CodeLite. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1350 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-29 00:36:08 +00:00
DrZiplok 67aa0cd92d This shouldn't be here. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1348 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-29 00:33:21 +00:00
DrZiplok 94fd2431e4 Implement an abstract IMU class. 
Refactor the existing AP_IMU as AP_IMU_Oilpan (this will require changes in other projects TBD).

Add a shim IMU class for use by e.g. HIL protocol handlers.

This paves the way for a better handling of HIL_MODE_SENSORS as well as the mooted SPI-based oilpan IMU.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1342 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-28 23:41:00 +00:00
jasonshort 82c4815e2c added direct setting of accel offsets 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1160 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-19 03:21:38 +00:00
jasonshort e3e8dbb0b3 added ability to zero out the accels 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1115 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-13 03:57:42 +00:00
jasonshort 2f2aaa88fd Added dynamic setting of compass 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1010 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-04 06:24:21 +00:00
deweibel 126383fe43 Bug fix for IMU / DCM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1008 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-03 02:12:13 +00:00
jasonshort a142d8ee7d imu enhancements 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1007 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-02 22:09:25 +00:00
jasonshort 93206020cb Moved Health to DCM, Centripetal correct 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@988 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-01 22:52:11 +00:00
jasonshort efa2c199f9 update - See Arducopter for implementation details 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@985 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-01 07:57:30 +00:00
DrZiplok 2bf62274ab Use fabs(), not abs() for floating point values. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@957 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 09:48:01 +00:00
james.goppert a6c315b6f1 AP_IMU modified to use AP_ADC, fixes HIL bugs. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@949 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 04:45:29 +00:00
DrZiplok@gmail.com 5560f4fcf9 Attribute fix. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@899 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-23 04:05:27 +00:00
DrZiplok@gmail.com d759ee97c5 Fix this so that it compiles again. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@898 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-23 04:03:43 +00:00
deweibel 0e32cb34c5 bug fix, enhancements 
Now in a flyable state.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@852 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-17 21:20:20 +00:00
deweibel 52ed7fac8c corrections to imu and dcm libs, addition of vector member to compass class for magnetic vector 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@844 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-15 02:15:16 +00:00
deweibel b49032d9ea Changes to DCM and IMU libraries to put accel into m/s^2 units 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@757 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-30 16:17:16 +00:00
deweibel a80eb66e77 fix bugs from factoring imu object. 
Tested & working - integration and roll/pitch drift correction
Untested - yaw drift correction and centrepetal comp

git-svn-id: https://arducopter.googlecode.com/svn/trunk@729 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-25 02:03:52 +00:00
deweibel 6272955567 small correction to imu lib 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@728 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-24 20:10:09 +00:00
deweibel de51162e81 Correct file references for repository 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@727 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-24 19:12:09 +00:00
deweibel 489365e7fc Add IMU library 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@726 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-24 18:37:56 +00:00