Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
15,456 Commits 71 Branches 509 Tags 814 MiB
Commit Graph

413 Commits

Author SHA1 Message Date
Staroselskii Georgii f7f9cd2173 AP_InertialSensor: prevented MPU9250 from disabling I2C slaves 2015-01-07 08:41:13 +11:00
Andrew Tridgell 745b739ab7 AP_InertialSensor: make calibrated() function fast enough to call in flight 
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.

Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
 2015-01-03 14:06:42 +11:00
Andrew Tridgell 06a72839ed AP_InertialSensor: fixed error detection on secondary IMUs 
the break; was preventing error detection on lsm303d/l3gd20
 2015-01-01 08:55:57 +11:00
Andrew Tridgell b9adc6e466 AP_InertialSensor: prefer sensors that have zero error counts 
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
 2014-12-29 21:19:35 +11:00
Andrew Tridgell 7bb56e50aa AP_InertialSensor: fixed example build 2014-11-28 10:40:19 +11:00
Andrew Tridgell f84f432ecf AP_InertialSensor: allow gyro calibration to take up to 30 seconds 
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
 2014-11-22 18:27:51 +11:00
Andrew Tridgell 7c288e020b AP_InertialSensor: fixed detection of dead IMU 
if a PX4 sensor does not give new data we need to avoid calling
_rotate_and_offset_*() to avoid marking it as healthy. Otherwise if
the MPU6k dies we won't switch to the LSM303D automatically
 2014-11-16 12:30:33 +11:00
Andrew Tridgell 986b7bf894 AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers 2014-11-11 17:06:22 +11:00
Andrew Tridgell 3518cf5480 AP_InertialSensor: fixed default MPU9250 orientation for NavIO 2014-11-04 16:18:35 +11:00
Andrew Tridgell ad7c612334 AP_InertialSensor: fixed SITL with new HIL code 2014-10-24 15:05:44 +11:00
Andrew Tridgell aeaa3c1e04 AP_InertialSensor: fixed build for VRBrain 2014-10-24 12:10:41 +11:00
Andrew Tridgell 40e83ceb1f AP_InertialSensor: simplify next sample time calculations 
this makes the calculation much clearer
 2014-10-24 12:10:40 +11:00
Andrew Tridgell 9dfbdb1e69 AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs 
use a software filter and 1kHz sampling for better filtering if we
have a fast enough CPU to do it
 2014-10-24 12:10:40 +11:00
Andrew Tridgell a047d1f569 AP_InertialSensor: moved default filter and sample_rate to frontend 
this simplifies the backends and prevents code repitition
 2014-10-24 12:10:40 +11:00
Andrew Tridgell 17b2214798 AP_InertialSensor: make it easier to add multiple backends 
use _add_backend() to add new backends on startup
 2014-10-24 12:10:40 +11:00
Andrew Tridgell bc5d79118d AP_InertialSensor: updated comments 2014-10-24 12:10:39 +11:00
Andrew Tridgell 3a9a5a9c18 AP_InertialSensor: implement gyro and accel health monitoring 
sensor is healthy if it gave a sample on the last update()
 2014-10-24 12:10:39 +11:00
Andrew Tridgell 586fa9a816 AP_InertialSensor: added product_id support 
fill in parameter from first backend
 2014-10-24 12:10:39 +11:00
Andrew Tridgell 520727e5bd AP_InertialSensor: fixed example build 2014-10-24 12:10:39 +11:00
Andrew Tridgell dbcd02f2be AP_InertialSensor: converted MPU9150 driver 
untested conversion
 2014-10-24 12:10:38 +11:00
Andrew Tridgell ff5f791343 AP_InertialSensor: converted flymaple driver to new API 2014-10-24 12:10:38 +11:00
Andrew Tridgell a42af0f2f1 AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN 2014-10-24 12:10:38 +11:00
Andrew Tridgell 3ce7667e5a AP_InertialSensor: tidy up MPU6000 driver 2014-10-24 12:10:37 +11:00
Andrew Tridgell 2d47a07480 AP_InertialSensor: ported L3G4200D driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell deafcd6ddc AP_InertialSensor: improved timing in all drivers 2014-10-24 12:10:37 +11:00
Andrew Tridgell ff6d87f145 AP_InertialSensor: minor tidy up for HIL driver 2014-10-24 12:10:37 +11:00
Andrew Tridgell 85686c22ec AP_InertialSensor: converted the APM1/Oilpan driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell dcef9bb3b8 AP_InertialSensor: converted the MPU9250 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell ec11417705 AP_InertialSensor: converted HIL backend, which gets SITL working 2014-10-24 12:10:36 +11:00
Andrew Tridgell 448efc70a3 AP_InertialSensor: first steps in frontend/backend split 
This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
 2014-10-24 12:10:36 +11:00
Randy Mackay 834f2bea07 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:00:07 +09:00
Randy Mackay 0803d79701 INS: param descriptions for ACC2, GYR2 2014-09-27 21:05:33 +09:00
Randy Mackay 74553e523d INS: add get_accel_health_all and get_gyro_health_all 
Returns true only if all available accels or gyros are healthy
 2014-09-03 11:22:46 +09:00
Randy Mackay 50ae5b2519 InertialSensor: reorder .cpp file to match .h 
No functional changes
 2014-09-03 11:19:36 +09:00
Andrew Tridgell dcdb53584b AP_InertialSensor: use lockless structures in MPU9250 driver 
this avoids suspending timers when transferring data between main
thread and SPI read thread
 2014-08-22 21:13:11 +10:00
Andrew Tridgell 5c9e5fbc11 AP_InertialSensor: removed use of hrt_absolute_time() 2014-08-20 09:10:24 +10:00
Andrew Tridgell a14f8dbd0a AP_InertialSensor_MPU9250: use micros64() and millis64() 2014-08-20 08:02:34 +10:00
Andrew Tridgell 3c2ab31415 AP_InertialSensor: get rid of data_ready for MPU9250 
when running off a 1kHz timer and reading at 1kHz it is better to
double sample than it is to skip a sample, as skipping samples will
throw the filter off, whereas a double sample will have minimal effect
 2014-08-19 20:03:33 +10:00
Andrew Tridgell 9e01c657e5 AP_InertialSensor: update MPU9250 driver for 1kHz operation 
use a time base sample wait, with 1kHz sampling
 2014-08-19 20:03:33 +10:00
Andrew Tridgell 532e9aace4 AP_InertialSensor: fixed timer bug in HIL sensors 2014-08-19 20:03:33 +10:00
Andrew Tridgell 12239de00d AP_InertialSensor: fix data_ready return for L3GD20 2014-08-19 10:14:20 +10:00
Andrew Tridgell 7286e7acd2 AP_InertialSensor: fixed build errors on APM2 2014-08-19 10:08:17 +10:00
Andrew Tridgell 50068a7c6a AP_InertialSensor: fixed default orientation for PXF board MPU9250 2014-08-19 10:08:16 +10:00
Víctor Mayoral Vilches 5e5319e23b AP_InertialSensor: MPU9250 cleaning 2014-08-19 10:08:16 +10:00
Víctor Mayoral Vilches df1de4efd6 AP_InertialSensor: Driver added for the LSM303D 2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches 8968647873 AP_InertialSensor: INS_generic example, add support L3GD20 2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches 0f908a8ccd HAL_Linux: Add L3GD20 to the AP_InertialSensor header 2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches 556d46a4ef AP_InertialSensor: L3GD20 driver added 
L3GD20 gyro userspace sensor added. The driver constructs
over the implementation of the PX4 Dev Team at
https://github.com/diydrones/PX4Firmware.
 2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches bfacf08c30 HAL_Linux: LSM9DS0 legacy driver moved to AP_InertialSensor/LSM9DS0/ 
The new LSM9DS0 driver will consist of the AP_InertialSensor_L3GD20 and
the AP_InertialSensor_LSM303D. For that reason the old LSM9DS0
(consisting of gyro and accel+mag implemented on a single class) has
been moved to a folder.

Legacy LSM9DS0 didn't probe to receive "correct" data.
 2014-08-19 10:08:15 +10:00
Randy Mackay 51f40fe3d6 INS: add accessor for mpu6k filter 2014-08-14 11:47:23 +09:00
Randy Mackay 0e7cbd28c8 INS_HIL: init members to resolve compiler warnings 2014-08-14 11:27:32 +09:00
Andrew Tridgell 24251a7e12 AP_InertialSensor: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell 984064f3d3 AP_InertialSensor: fixed example build 2014-08-13 18:46:44 +10:00
Mikhail Avkhimenia 34da221c3d AP_InertialSensor: Use MPU9250 DRDY pin only on boards that support it 2014-08-12 22:13:00 +10:00
Andrew Tridgell f8ceccce32 AP_InertialSensor: improved HIL timing consistancy 
try to keep the average time for each sample right
 2014-08-09 22:50:15 +10:00
Andrew Tridgell 1d4d848300 AP_InertialSensor: fixed a build warning 2014-08-08 13:48:03 +10:00
Andrew Tridgell ed6ab5f1d3 AP_InertialSensor: use bool for blocking_read() 
uint8_t return was confusing
 2014-08-07 13:09:17 +10:00
Michael Carpenter b4c0e1215b AP_InertialSensor: Use return value of blocking_read to handle calibration timeouts 2014-08-07 13:04:18 +10:00
Andrew Tridgell cc735a4200 AP_InertialSensor: some more debug info for VibTest 2014-07-31 12:48:30 +10:00
Andrew Tridgell f7b01a6f3f AP_InertialSensor: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:52 +10:00
Andrew Tridgell 662276597a AP_InertialSensor: fixed example build 2014-07-25 17:52:14 +10:00
Andrew Tridgell 79f453dfd3 AP_InertialSensor: use LSM9DSO_AM device 2014-07-19 13:23:54 +10:00
Randy Mackay 6baedbda1d AP_InertialSensor: add empty virtual destructor 2014-07-16 14:56:56 +09:00
Randy Mackay a09f7b9198 AP_InertialSensor_MPU6k: init members to reduce compiler warnings 2014-07-16 14:40:55 +09:00
Randy Mackay c5a03ea18e AP_InertialSensor: init members to reduce compiler warnings 2014-07-16 14:40:53 +09:00
LukeMike 85fc72c57c AP_InertialSensor: VRBRAIN added 3th inertial sensor 2014-07-15 20:42:15 +10:00
Andrew Tridgell 0f724c1d7a AP_InertialSensor: removed per-device example code 
now can use a single generic test for all boards
 2014-07-14 09:44:36 +10:00
Andrew Tridgell 5a170c6343 AP_InertialSensor: added INS_generic test 2014-07-14 09:44:36 +10:00
Andrew Tridgell d1ba78002d AP_InertialSensor: added paranoid check for DRDY pin 2014-07-14 09:44:36 +10:00
Andrew Tridgell 6f9965cc22 AP_InertialSensor: fixed setup of DRDY pin on MPU9250 2014-07-14 09:44:36 +10:00
Andrew Tridgell 6a6dbe5790 AP_InertialSensor: added check for WHOAMI on MPU9250 2014-07-14 09:44:35 +10:00
Andrew Tridgell abb53eb9a2 AP_InertialSensor: simplify using HAL board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell 848b563fc3 AP_InertialSensor: rotate acccel/gyro for PXF 2014-07-14 09:44:34 +10:00
Andrew Tridgell ea188528fc AP_InertialSensor: fixed build errors for LSM9DSO 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches 2982fc029c AP_InertialSensor_LSM9DS0: Fix _dump_registers method 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches feedc40f72 AP_InertialSensor_LSM9DS0: Move LSM9DS0_DEBUG flag to the header 2014-07-14 09:44:34 +10:00
Andrew Tridgell 297bb52ced AP_InertialSensor: added MPU9250 header 2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches f213f01983 AP_InertialSensor_LSM9DS0: Remove previous CS handling. 
CS is now being automatically handled by the SPI Driver.
 2014-07-14 09:44:33 +10:00
Andrew Tridgell 3ed4f82cb0 AP_InertialSensor: fixed DRDY include for Linux 2014-07-14 09:44:33 +10:00
Andrew Tridgell 06b6d7aaf0 AP_InertialSensor: fixeup DRDY pin for different boards 2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches 3379ddd51f AP_InertialSensor_MPU6000: Add _register_write_check method. 
This private method allows to check whether the value written and
the posterior value readed are the same.
Should be used only for debuging purposes, for release versions use
_register_write instead.
 2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches 0fff8df491 AP_InertialSensor: fix LSM9DS0 test code 2014-07-14 09:32:30 +10:00
Víctor Mayoral Vilches bb5de8a6a1 AP_InertialSensor_LSM9DS0: Fix the CS. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches ad3a3f9366 AP_InertialSensor_MPU6000: Fix the CS. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches aa60a89cda AP_InertialSensor_MPU9250: Fix SPI CS. 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches bae84e2942 AP_InertialSensor: Add missing library to test example. 2014-07-14 09:29:36 +10:00
Víctor Mayoral Vilches 4df3b55ed4 AP_InertialSensor_MPU9250: Add missing library for example/ 
In order to compile the examples test a library needed to
added.
 2014-07-14 09:29:36 +10:00
Víctor Mayoral Vilches eb95130441 AP_InertialSensor_MPU9250: remove legacy CS. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches 5e7e28a83e AP_InertialSensor_MPU9250.cpp: Update the DRDY pin. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches d053a91cd5 AP_InertialSensor_MPU6000: Remove MPU6000_CS_PIN 
Remove MPU6000_CS_PIN, a legacy way of handling
Chip Select.
 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches d9cb29ea8b AP_InertialSensor_MPU6000: Correct DRDY pin. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches df14318bbd AP_InertialSensor_L3G4200D: Clock-based wait_for_sample() impl. 2014-07-14 09:29:08 +10:00
Víctor Mayoral Vilches 7cf1187473 AP_InertialSensor_MPU9150: Clock-based wait_for_sample() impl. 
Adapt the I2C driver to a system clock based wait_for_sample()
implementation.

The sample rate of the sensor has been corrected to 800 Hz (could be
further pushed up to 1KHz).

Filters for the mag have also been created but remain commented until
the code for the mag is ready.
 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches c4babc543d AP_InertialSensor_LSM9DS0: SPI userspace sensor driver. 
ST Microelectronics 9 DOF IMU userspace sensor driver. Some
work with the filters needs to be done.
 2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches 1c07985518 AP_InertialSensor_MPU9150: Comment the suspend_timer_procs 
It causes the driver to hang. This matter should be inspected.
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches d65aefbef5 AP_InertialSensor_MPU6000: Fix the test code so that compiles. 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches fac3d1c271 AP_InertialSensor_MPU9250: SPI userspace sensor driver. 
InvenSense MPU9250 sensor driver and test code (available under
libraries/examples/).
 2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches 4d79887cc5 L3G4200D: fix in the test example provided. 
The test coded had a call to "wait_for_sample" that expected one
argument and 0 where provided.
 2014-07-14 08:52:51 +10:00
Andrew Tridgell ab7e96b9de AP_InertialSensor: updates for ERLE board type 2014-07-14 08:51:44 +10:00