rmackay9
a4ee5d2c81
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
rmackay9
0092960a68
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:35:55 +09:00
rmackay9
399fe2e8cd
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:20:31 +09:00
Andrew Tridgell
dfc252a78d
AP_InertialSensor: removed axis getters for accel/gyro
...
these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
Andrew Tridgell
aa79ffc301
AP_InertialSensor: fixed stub driver to work correctly with sensors HIL
2012-12-03 23:27:21 +11:00
Andrew Tridgell
48403e3bbc
AP_InertialSensor: Added INS_MPU6K_FILTER option
...
this allows the user to select the MPU6000 filtering frequency
2012-11-30 07:15:19 +11:00
Andrew Tridgell
d58088c2b8
AP_InertialSensor: return the example sample count in Oilpan
2012-11-30 07:15:19 +11:00
Andrew Tridgell
2d8d6b2459
AP_InertialSensor: allow specification of sample rate in init() call
...
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen.
This also changes the MPU6k filtering to be less than half the sample
rate
2012-11-30 07:15:18 +11:00
Andrew Tridgell
18fbcdf9e6
AP_InertialSensor: fixed example build
2012-11-24 21:08:06 +11:00
rmackay9
21d72bb49b
AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G
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Note: Z offsets do tend to be larger than x and y offsets
2012-11-23 00:34:42 +09:00
Andrew Tridgell
655446feec
INS: make it possible to do accel cal on a different serial port
2012-11-21 21:41:34 +11:00
Andrew Tridgell
3646b4b846
INS: switch to SREG = oldSREG pattern for interrupt mask/restore
2012-11-20 22:31:23 +11:00
Andrew Tridgell
bbb2bbc721
INS: set the acceptable calibration error equal on all axes
2012-11-20 19:28:49 +11:00
Andrew Tridgell
b9fb683236
INS: show calibration values on failure
...
this will help debug bad calibrations
2012-11-20 19:28:15 +11:00
Andrew Tridgell
e2afc9ea18
INS: get check for send_msg the right way around!
...
I broke this in my previous commit
2012-11-20 19:10:30 +11:00
Andrew Tridgell
4174cfd4a7
INS: disable accel calibration on the 1280
...
this would put us well over 128k in sketch size
2012-11-20 18:41:04 +11:00
Andrew Tridgell
98a806fb90
INS: make calibrate_accel() return a bool
...
this will allow APM to auto set MANUAL_LEVEL to 1
2012-11-20 18:32:27 +11:00
Andrew Tridgell
2a70138ad1
INS: fixed raw accel offset for APM1
...
we now get reasonable offset values
2012-11-20 18:32:27 +11:00
Andrew Tridgell
f2744f8ff7
INS: use vector subtraction to make code clearer
2012-11-20 18:32:27 +11:00
rmackay9
317b719a62
AP_InertialSensor: correct typo to datasheet's filename
2012-11-20 00:37:42 +09:00
rmackay9
e2b1cb7e8d
AP_InertialSensor: changes after review with Tridge.
...
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +09:00
rmackay9
e835cef181
AP_InertialSensor: merge in calibration features from IMU library
...
add gauss-newton method of accelerometer calibration
2012-11-07 19:20:27 +09:00
rmackay9
1cd4b08fac
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
2fd9022f03
ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)
2012-09-28 18:34:23 +09:00
Andrew Tridgell
3306ba95a7
MPU6k: save 72 bytes of memory
...
the buffer can be on the stack
2012-09-18 13:58:50 +10:00
rmackay9
8624b0138e
AP_InertialSensor_Stub: added num_samples_available method to fix HIL build
2012-09-10 11:38:13 +09:00
rmackay9
d8142c2351
AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called
2012-09-10 11:38:08 +09:00
rmackay9
bd3eab7c0f
AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete
2012-09-10 11:38:03 +09:00
rmackay9
3901387c8d
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
...
This reduces the delay between when data arrives and when it is used
by up to 1ms.
Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
2012-09-10 11:37:33 +09:00
rmackay9
67252c8a9b
AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop
2012-08-28 17:02:07 +09:00
uncrustify
3f0efe4570
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
2012-08-21 19:03:14 -07:00
uncrustify
91d52b6290
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
2012-08-21 19:03:14 -07:00
uncrustify
c47127fb80
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
2012-08-21 19:03:14 -07:00
uncrustify
c3de56ba94
uncrustify libraries/AP_InertialSensor/AP_InertialSensor.h
2012-08-21 19:03:14 -07:00
uncrustify
9d7ca3a876
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
2012-08-21 19:03:14 -07:00
uncrustify
bc6d3811bc
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
2012-08-21 19:03:14 -07:00
uncrustify
a946ed762b
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
2012-08-21 19:03:14 -07:00
uncrustify
78f95e5cce
uncrustify libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
2012-08-21 19:03:14 -07:00
Andrew Tridgell
0491188c03
MPU6000: fixed some build warnings
2012-08-09 16:19:21 +10:00
Andrew Tridgell
e9d0ae3e7f
AP_Param: update remaining libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
rmackay9
23a1e33e20
AP_InertialSensor_MPU6000: another attempt at fixing the SITL build
2012-07-28 17:19:19 +09:00
rmackay9
06a4aaa763
AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)
...
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
2012-07-28 16:33:04 +09:00
rmackay9
ea4e56309d
AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning
2012-07-28 15:22:37 +09:00
rmackay9
dfea845c37
AP_InertialSensor: methods added to access DMP functionality
2012-07-28 14:14:43 +09:00
Jason Short
25c3ed6c4b
Oilpan ADC parameters added
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including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
Andrew Tridgell
02b9ea4dfe
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
Craig Elder
fe742f1c23
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
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this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
Craig Elder
c323a71933
AP_InertialSensor: Return product ID from sensor initialization
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this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
Craig Elder
b824a87b90
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
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Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00