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866 Commits

Author SHA1 Message Date
Lucas De Marchi 06fe5ce8ba AP_InertialSensor: implement periodic thread for AuxiliaryBus 2017-09-11 09:52:41 -07:00
Andrew Tridgell 7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Kevin Lopez Alvarez ca3627c140 AP_InertialSensor: add ppro support 2017-07-24 13:47:06 +10:00
Randy Mackay 51fa8fb0bd AP_InertialSensor: resolve member init order compiler warning 2017-07-07 17:27:23 +09:00
Randy Mackay edc9d4db5b AP_InertialSensor: increase accel filter to 20hz 2017-07-03 09:38:15 +09:00
Peter Barker 6ae86a0b8c AP_InertialSensor: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Leonard Hall 447b20efa5 AP_InertialSensor: reduce accel filter to 10hz 2017-06-01 14:53:48 +09:00
Andrew Tridgell 62b826953d AP_InertialSensor: use AP_Math rand_float() 2017-05-03 20:12:04 +10:00
Andrew Tridgell bfd8d151c8 AP_InertialSensor: lower slave rate with fast sampling 
On an invensense IMU with fast sampling we need to lower the slave
sample rate for slave sensors such as the built-in AK8963 compass on a
MPU9250.

The slave rate is set as a multiple of the main rate, so it needs to be
much lower for fast sampling. If we leave it high then it greatly
impacts on IMU sample rate.

Without this change a MPU9250 with fast sampling and a compass enabled
will give a gyro rate of around 7200Hz. With this change it gets 7760Hz
 2017-05-02 12:11:08 +10:00
Andrew Tridgell 519a293af9 AP_InertialSensor: fixed instance usage in set_gyro_oversampling() 
thanks Francisco!
 2017-05-02 08:27:11 +10:00
Andrew Tridgell 112b22516a AP_InertialSensor: fixed use of accel2_noise 
thanks Francisco!
 2017-05-02 08:24:50 +10:00
Andrew Tridgell 2876f1467c AP_InertialSensor: converge sensor rate quickly, then slowly 
converge fast for the first 60 seconds, then more slowly to reduce
noise
 2017-05-01 15:13:56 +10:00
Andrew Tridgell db25b6e966 AP_InertialSensor: estimate and log sensor rates for all IMUs 
this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 49cc0965c0 AP_InertialSensor: separate handling of FIFO and non-FIFO sensors 
FIFO sensors produce data at a well known rate, but samples come in
bunches, so we can't use the system clock to calculate deltaT.

non-FIFO sensors produce data when we sample them, but that rate is
less regular due to timing jitter.

For FIFO sensors this changes makes us use a learned sample rate,
which allows for different clock speeds on sensor and system board.

For non-FIFO sensors we use the system clock to measure deltaT

the overall effect is a fix for sensors that produce samples at other
than the claimed datasheet rate.
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 74eb7a7243 AP_InertialSensor: make SITL sensor rate match a Pixhawk1 
use 760Hz 2nd gyro and 800 Hz 2nd accel
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 25cd16a275 AP_InertialSensor: fixed LSM303D registered sample rate 
we are running the LSM303D at 1600Hz, and are sampling it at 1kHz. We
need to tell the AP_InertialSensor layer that samples will arrive at 1kHz
 2017-05-01 15:06:46 +10:00
Andrew Tridgell e62fdad12c AP_InertialSensor: added get_last_update_usec() 
this will be used by the inter-EKF scheduling changes
 2017-05-01 14:24:55 +10:00
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
Lucas De Marchi 2e4e4365d0 AP_InertialSensor: enable fast sampling for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 87846fe049 AP_InertialSensor: use MPU6500 on aerofc 2017-03-24 12:06:19 +11:00
Andrew Tridgell 875274e761 AP_InertialSensor: added support for ICM-20602 
treat the same as a 20608
 2017-03-02 14:21:36 +11:00
Andrew Tridgell b86513f503 AP_InertialSensor: support AUAV21 board 2017-03-01 17:24:10 +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
murata a3f5b4f319 AP_InertialSensor: Change from magic number 0 to definition name. 2017-02-18 14:12:36 +00:00
Lucas De Marchi 9535b45cc9 AP_InertialSensor: examples: fix double to float warnings 
While at it add function prototype.
 2017-02-12 01:22:35 +00:00
Andrew Tridgell 01da36295d AP_InertialSensor: support the L3GD20H gyro 
this is used by the MRo Pixhawk1
 2017-01-31 07:39:36 +11:00
murata 0733d760f6 AP_HAL_VRBRAIN: Unify from print or println to printf. 
AP_InertialSensor: Unify from print or printin to printf.
 2017-01-27 18:20:22 +11:00
murata 2643e7e906 AP_InertialSensor: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Julien Beraud 3d9dacb227 AP_InertialSensor: push gyro data for opticalflow 
Do it only if there is an optical flow in the current HAL
 2017-01-23 21:23:16 +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
mirkix 62fabca19d AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963 2017-01-11 21:44:24 -08:00
Randy Mackay 946d30476a AP_InertialSensor: fix whoami for MPU6k 2017-01-05 10:29:51 +09:00
murata d56bad781f AP_InertialSensor: change if statements to switch statement 
No functional change
 2016-12-24 12:23:59 +09:00
murata 398b7b83dd AP_InertialSensor: minor formatting fixes 
No functional change
 2016-12-24 12:23:58 +09:00
Lucas De Marchi 9569ed94a9 AP_InertialSensor: Invensense: use capital letters for define 2016-12-20 09:23:30 +09:00
Andrew Tridgell a30745903a AP_InertialSensor: use ACC2_BIAS 2016-12-19 08:07:15 +11:00
priseborough 60ebe97e10 AP_InertialSensor: remove unused EKF1 include 2016-12-19 08:07:11 +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
Pierre Kancir de05e6ba29 InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 12:39:30 -08:00
Pierre Kancir 13c16e187f InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 10:59:45 -08:00
Randy Mackay dfd58cc57b AP_InertialSensor: fix build warning for MPU9250 2016-11-30 18:00:14 +09:00
Randy Mackay 699279ed1f AP_InertialSensor: fix build warning for MPU6000 2016-11-30 18:00:13 +09:00
Andrew Tridgell f9845c93b1 AP_InertialSensor: keep transfers nicely setup for DMA on stm32 
this avoids using stack based bounce buffers which may not support DMA
on stm32
 2016-11-27 11:26:10 +11:00
Andrew Tridgell 771cedca3d AP_InertialSensor: reduced number of SPI transfers 
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
 2016-11-26 19:02:22 +11:00
Andrew Tridgell 27605b0258 AP_InertialSensor: run invensese reg checking at low speed 
config register read/write should be at low bus speed.

also change to check every 20 calls to reduce checking cost
 2016-11-25 20:31:40 +11:00
Andrew Tridgell 0f984290c3 AP_InertialSensor: enable fast sampling by default on some boards 2016-11-25 17:59:54 +11:00
Andrew Tridgell f3a778f980 AP_InertialSensor: fixed freeing of fifo buffer 2016-11-25 17:50:19 +11:00
Andrew Tridgell 6f28c61c8d AP_InertialSensor: changed SIZE to LEN 
thanks to Lucas for suggestion
 2016-11-25 17:50:19 +11:00
hiro2233 cb7f46d653 AP_InertialSensor: fixed handling of user_ctrl register 
with aux bus implementations
 2016-11-25 17:50:18 +11:00
Andrew Tridgell 9b4c588c09 AP_InertialSensor: adapt drivers for SPI-DMA capable systems 
no longer need accumulate() transfers with SPI enabled DMA on stm32
 2016-11-25 17:49:58 +11:00
Andrew Tridgell 28daddaaf2 AP_InertialSensor: don't use accumulate approach on Linux or I2C 2016-11-25 17:49:57 +11:00
Andrew Tridgell d9c8db7024 AP_InertialSensor: implement a new strategy for fast sampling 
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.

It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.

Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.

Thanks to Leonard and Paul for help with this design!
 2016-11-25 17:49:57 +11:00
Lucas De Marchi 87c6d5da13 AP_InertialSensor: replace panic() with return 
When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
 2016-11-21 18:04:10 -02:00
Andrew Tridgell 6129b1abb6 AP_InertialSensor: wait forever for semaphore on startup 
some boards take a silly amount of time to get semaphore on startup
 2016-11-21 17:57:21 -02:00
Andrew Tridgell 216cf53922 AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 
this prevents temporary corruption of INS data on FIFO overflow
 2016-11-19 12:54:22 +11:00
Andrew Tridgell 18d4286166 AP_InertialSensor: fixed pixfalcon 9250 detection 2016-11-18 14:24:39 +11:00
Andrew Tridgell cb1a5d4c74 AP_InertialSensor: take semaphore for update of accumulators 
this fixes a race in update of delta angle and delta velocity between
backend and frontend
 2016-11-18 06:32:17 +11:00
Andrew Tridgell f3f1f6b0b6 AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk 2016-11-16 20:33:56 +11:00
Andrew Tridgell 6af00027ab AP_InertialSensor: removed unused variables 
thanks to Francisco for noticing
 2016-11-16 08:41:06 +11:00
Francisco Ferreira bfbb275577 AP_InertialSensor: on accel cal failure don't save values to zero 
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
 2016-11-15 11:42:54 -08:00
Andrew Tridgell 624178f3be AP_InertialSensor: added INS_FAST_SAMPLE parameter 
this allows enable/disable of fast sampling per IMU, making
experimentation easier.

It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
 2016-11-15 21:16:40 +11:00
Andrew Tridgell c0303ffe8a AP_InertialSensor: temporarily disable fast sampling 
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
 2016-11-14 18:18:17 +11:00
Andrew Tridgell c794ad9ee8 AP_InertialSensor: use smaller FIFO buffers 
this allows for reading multiple chunks from the fifo per callback
 2016-11-13 13:16:22 +11:00
Andrew Tridgell 8d19808152 AP_InertialSensor: fixed missing checked register goto 
thanks to Francisco for spotting
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 49856c37f2 AP_InertialSensor: reduce checked register count 
thanks to Francisco for spotting this
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 4be8f05ad4 AP_InertialSensor: added register checking for LSM9DS0 2016-11-11 08:08:56 +11:00
Andrew Tridgell 77a83c091a AP_InertialSensor: added register checking for MPU6000/ICM20608 2016-11-11 08:08:56 +11:00
Andrew Tridgell 95a849f472 AP_InertialSensor: added register checking for MPU9250 2016-11-11 08:08:56 +11:00
Andrew Tridgell 3289e90134 AP_InertialSensor: added error count increments in drivers 2016-11-11 08:08:55 +11:00
Andrew Tridgell 4ebf3309f7 AP_InertialSensor: auto-handle invensense sensor changes 
some boards swap out MPU6000 for MPU9250 or ICM20608
 2016-11-11 08:08:55 +11:00
Andrew Tridgell af0ec41652 AP_InertialSensor: fixed accel clip detection with fast sampling 
we need to check on every sample at the full rate
 2016-11-10 13:39:17 +11:00
Andrew Tridgell 70c27a85de AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz 2016-11-10 13:04:15 +11:00
Andrew Tridgell 1ea4c6938c AP_InertialSensor: allow auxiliary bus with fast sampling 2016-11-10 11:44:52 +11:00
Andrew Tridgell 8da42b7a8b AP_InertialSensor: fixed temperature for fast sampling case 2016-11-10 11:44:52 +11:00
Andrew Tridgell cb70bae167 AP_InertialSensor: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell e27a76e460 AP_InertialSensor: fixed auxiliary bus with FIFO enabled 
make sure fifo reset doesn't check I2C master enable
 2016-11-10 11:44:51 +11:00
Andrew Tridgell 46785e8ecf AP_InertialSensor: improved method for FIFO integrity checking 
check temperature every 255 samples against FIFO data
 2016-11-10 11:44:51 +11:00
Andrew Tridgell 8a3f6a8902 AP_InertialSensor: use FIFO and implement fast sampling for MPU9250 2016-11-10 11:44:51 +11:00
Andrew Tridgell e25a391a8f AP_InertialSensor: fixed typo 2016-11-09 17:08:15 +11:00
Andrew Tridgell d2f6a514b9 AP_InertialSensor: catch FIFO alignment errors using temperature reading 
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
 2016-11-09 17:08:15 +11:00
Andrew Tridgell d248b33104 AP_InertialSensor: simplify config of MPU6000 
use zero sample rate divider on both MPU6000 and ICM20608
 2016-11-09 17:08:14 +11:00
Andrew Tridgell 7137d5c6f2 AP_InertialSensor: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell 84c3e29891 AP_InertialSensor: use AP_HAL rotations for MPU6000 2016-11-09 17:08:14 +11:00
Andrew Tridgell 2f01dfe81c AP_InertialSensor: fixed from review by Lucas 2016-11-09 17:08:13 +11:00
Andrew Tridgell 81b933d9d0 AP_InertialSensor: use int32_t summation for fast sampling 
very slightly faster
 2016-11-09 17:08:13 +11:00
Andrew Tridgell 03b7bc9e65 AP_InertialSensor: use internal drivers for PHMINI 
this gets us fast sampling
 2016-11-09 17:08:12 +11:00
Andrew Tridgell af1c5fd6d3 AP_InertialSensor: always use FIFO on MPU6000 
and enable fast sampling on ICM20608 if on SPI
 2016-11-09 17:08:12 +11:00
Andrew Tridgell fde80a9408 AP_InertialSensor: modify LSM303D settings to match PX4 driver 
this allows existing accel calibration to be used
 2016-11-09 17:08:12 +11:00
Andrew Tridgell a9a5e50bd1 AP_InertialSensor: removed timer callback for MPU6000 
Thanks to Lucas for pointing out this is not needed
 2016-11-09 17:08:11 +11:00
Andrew Tridgell bd84e592f8 AP_InertialSensor: check for NULL device pointer in probe() 
handle missing devices
 2016-11-09 17:08:10 +11:00
Andrew Tridgell 3d7d773883 AP_InertialSensor: added support for ICM20608 on Pixracer 2016-11-09 17:08:08 +11:00
Andrew Tridgell 2c1e9024f1 AP_InertialSensor: detect missing accels or gyros 2016-11-09 17:08:07 +11:00
Andrew Tridgell 106a91c64c AP_InertialSensor: use init_gyro() on startup 
this saves the calibration parameters which should be done on
calibration
 2016-11-09 17:08:07 +11:00
Andrew Tridgell 408593465f AP_InertialSensor: fixed rotation for mpu9250 on pixracer 2016-11-09 17:08:07 +11:00
Andrew Tridgell 790dd4769b AP_InertialSensor: simplify rotations for MPU9250 2016-11-09 17:08:07 +11:00
Andrew Tridgell aa4025bdf9 AP_InertialSensor: make INS sensor IDs match for PX4 
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
 2016-11-09 17:08:06 +11:00
Andrew Tridgell 9e7e1b2f01 AP_InertialSensor: fixed merge conflicts with patches from Lucas 2016-11-09 17:08:06 +11:00
Lucas De Marchi 104e29acf2 AP_InertialSensor: MPU6000: change accel scale to 16G 
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
 2016-11-09 17:08:06 +11:00
Lucas De Marchi dc09661b9e AP_InertialSensor: MPU6000: save driver version 
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
 2016-11-09 17:08:06 +11:00
Lucas De Marchi 0d3adef8b2 AP_InertialSensor: MPU6000: remove TODO leftover 
This will never be done as blindly changing speed is not the way to fix
communication issues.
 2016-11-09 17:08:05 +11:00