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
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
2016-11-10 13:04:15 +11:00
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
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
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
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
e25a391a8f
AP_InertialSensor: fixed typo
2016-11-09 17:08:15 +11:00
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
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
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
...
very slightly faster
2016-11-09 17:08:13 +11:00
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
2016-11-09 17:08:12 +11:00
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
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
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
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
...
handle missing devices
2016-11-09 17:08:10 +11:00
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +11:00
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
2016-11-09 17:08:07 +11:00
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
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
2016-11-09 17:08:07 +11:00
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +11:00
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
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
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
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
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
0a1616cc71
AP_InertialSensor: use correct device IDs on PX4 driver
2016-11-09 17:08:05 +11:00
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
...
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.
We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
2016-11-09 17:08:05 +11:00
bbb9bfa95e
AP_InertialSensor: save only gyro calibration
...
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.
Rename the method to _save_gyro_calibration() and save only on gyro
values.
2016-11-09 17:08:05 +11:00
f81dba2100
AP_InertialSensor: add doc to get_id() of backend
...
This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
2016-11-09 17:08:05 +11:00
ace61087a1
AP_InertialSensor: remove product_id
...
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.
A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
2016-11-09 17:08:05 +11:00
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
ac2c25539b
AP_InertialSensor: implement device IDs for AuxilaryBus
2016-11-09 17:08:04 +11:00
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
2016-11-09 17:08:04 +11:00
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
38ff8b3536
AP_InertialSensor: removed unused product_id function in L3G4200D
2016-11-09 17:08:01 +11:00
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
...
use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
b92c48548a
AP_InertialSensor: added per-instance rotation for LSM9DS0
2016-11-09 17:08:00 +11:00
2df6ed08c2
AP_InertialSensor: added optional per-instance orientation
...
this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
ac2572384d
AP_InertialSensor: added start() method for LSM9DS0
...
needed to get sensor ordering right on multi-sensor boards
2016-11-09 17:08:00 +11:00
7832f1a1b6
AP_InertialSensor: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
90dc9e3327
AP_InertialSensor: dummy implementation of register_periodic_callback()
...
for AuxiliaryBus
2016-11-09 17:07:55 +11:00
91c4bf470f
AP_InertialSensor: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
Andrew Tridgell
Lucas De Marchi
murata