4d31a7320a
AP_InertialSensor: stop sensors converging if motors arm
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if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying
also fix a 32 bit millis wrap
2024-12-09 07:40:48 +11:00
6db09c9fdd
AP_InertialSensor: keep a queue of gyro samples for use by the rate thread
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decimate the gyro window locally
configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
allow backends to be updated from rate thread
output debug error if rate loop buffer overruns
add support for updating filter parameters independently of propagating samples
add rate loop config abstraction that allows code to be elided on non-copter builds
must be using harmonic notch to use rate thread
mediate fast rate loop buffer using mutex and binary semaphore
ensure gyro samples are used when the rate loop buffer isn't
Co-Authored-By: Andrew Tridgell <andrew@tridgell.net>
2024-12-04 07:45:05 +11:00
98f3a4b7d5
AP_InertialSensor: allow backend filters to be updated independently from a separate thread
2024-08-23 18:34:28 +10:00
ef0de65347
AP_InertialSensor: tidy IMU killing
2024-07-10 18:17:00 +10:00
6de3cce480
AP_InertialSensor: allow HarmonicNotches to be compiled out of the code
2024-03-19 07:04:13 +11:00
6a897f01d8
AP_InertialSensor: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
1051da5cb4
AP_InertialSensor: correct compilation when AP_AHRS_ENABLED is off
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e.g. CubeOrange-periph-heavy
2024-01-16 16:14:04 +11:00
2688848cd1
AP_InertialSensor: fixed orientation of batch sampled data
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we need to rotate the data so that FFT displays match the configured
orientation
2023-10-25 19:23:11 +11:00
3429276224
AP_InertialSensor: add INS_RAW_LOG_OPT to allow raw logging of post, and pre+post on primary or all gyros
2023-10-03 10:24:58 +11:00
c9382cd221
AP_InertialSensor: HAL_WITH_DSP -> HAL_GYROFFT_ENABLED
2023-03-29 20:49:40 +11:00
10439cc42e
AP_InertialSensor: add support for extra Aux IMUs
2023-03-21 10:04:16 +11:00
34a52142c8
AP_InertialSensor: added support using the 2nd IMU for heater control
2023-03-15 19:08:53 +11:00
e5c3dd871c
AP_InertialSensor: create explicit define for AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
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this allows the batch sampler to be removed for size reasons, or because you don't have logging enabled
2023-01-11 19:08:41 +11:00
90cdc1aa52
AP_InertialSensor: allow FFT window to be captured post-filter
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selectively apply filters twice to make sure that FFT is not tracking itself
clean-up notch disablement for non-DSP builds
use filter gyro data for FFT when analysing post-filter
always apply LPF after all of the notches
move to a phased application of window information for FFT
tap FFT gyro window at the appropriate place for downsampled FFTs
add accessor for FFT notch
document notch uses cases and flow
2022-12-28 18:14:56 +11:00
221ab9752e
AP_InertialSensor: synchronise fifo reads on the ICM42xxx
2022-08-12 20:53:36 +10:00
e4ce4ebed3
AP_InertialSensor: remove un-needed methods
2022-07-19 10:30:36 +10:00
9ac3472b47
AP_InertialSensor: add set_inactive() on notch filters
2022-06-30 20:58:37 +10:00
a37f268dc6
Ap_Inertialsensor: by default only run harmonic notch on the active gyro
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this should save quite a lot of CPU. Only the active gyro impacts
vehicle flight
2022-06-12 15:39:44 +10:00
19063a46a0
AP_InertialSensor: fixed build with logging disabled
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fixes CubeOrange-periph build
2022-06-06 14:50:40 +10:00
db14ba46dc
AP_InertialSensor: call notch param update with semaphore held
2022-04-19 09:39:03 +10:00
e2e1e74da5
AP_InertialSensor: switch to HarmonicNotch class
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this makes the logic much easier to follow, without indexes into
arrays
2022-04-19 09:39:03 +10:00
e67d9b4179
AP_InertialSensor: support two full harmonic notch filters
2022-04-19 09:39:03 +10:00
b77476caa1
AP_InertialSensor: remove custom orentations
2022-03-02 18:16:42 +11:00
c7a43f2a90
AP_InertialSensor: put some functions in fast ram
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precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
2022-02-09 12:47:55 +00:00
662327f2ea
AP_InertialSensor: added support for more ADIS IMUs
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support 32 bit delta angles and velocities
2021-12-29 18:25:18 +11:00
6e3b502110
AP_InertialSensor: inline vector ops for backends and temp cal
2021-12-22 18:23:33 +11:00
c6734ad825
AP_InertialSensor: correct logging of inertial-sensor reg-change logging
2021-12-18 21:25:27 +11:00
4fdc1ebc30
AP_InertialSensor: fixed locking issue in delta accumulation
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this fixes a bug in calculating delta velocity and delta acceleration
between threads.
2021-08-31 10:10:18 +10:00
447935bf4c
AP_InertialSensor: remove dependence on gcs for AP_Periph builds
2021-06-30 17:06:02 +10:00
2b20dcf128
AP_InertialSensor: move GYR & ACC logging functions to Logging.cpp
2021-05-01 14:15:58 +10:00
4cddf37984
AP_InertialSensor: log unexpected register changes
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when the register checking code finds an error we will log what
register changed and to what value
2021-02-24 18:18:37 +11:00
3ff71c7814
AP_InertialSensor: changes from review feedback
2021-01-21 13:09:21 +11:00
8caea96ab1
AP_InertialSensor: start auto-learning at boot
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This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
2021-01-21 13:09:21 +11:00
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
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this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
2021-01-21 13:09:21 +11:00
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
2437cf8a24
AP_Logger: use instance number for IMU logging
2020-11-11 19:31:53 +11:00
faf9bbbf3a
AP_InertialSensor: make the backend fast gyro rate configurable
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raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
2020-07-10 16:45:29 +10:00
61bb42cc0c
AP_InertialSensor: allow up to four distinct notch center frequencies to be updated
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apply the LPF after the notch filters to reduced notch-induced noise
2020-06-21 19:09:35 +10:00
8ac79da643
AP_InertialSensor: FFT gyro window would overflow on windows >= 256
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convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
2020-05-24 07:43:34 +10:00
5c6749ee54
AP_InertialSensor: use wait_pin() to wait for DRDY pin if available
2020-04-23 07:28:13 +10:00
0e9b2a26c5
AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate
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use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
2020-02-22 11:15:37 +11:00
3d9776dd6d
AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis.
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FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
2020-02-22 11:15:37 +11:00
143a071788
AP_InertialSensor: add rpm-based motor noise to gyros and accels
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Remove sample time error in backend.
2019-12-17 10:07:06 +11:00
236ce28339
AP_InertialSensor: updated for heater changes
2019-11-02 16:31:04 +11:00
8e385d7453
AP_InertialSensor: correct formatting
2019-09-11 18:41:05 +10:00
5b7f9f6bea
AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value
2019-09-11 18:41:05 +10:00
3261677e01
AP_InertialSensor: remove _ prefix from methods. use changed filter methods.
2019-09-11 18:41:05 +10:00
50f7e50634
AP_InertialSensor: add harmonic notch filter to gyro filter chain
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Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats.
backend variables do not need to be indexed per-backed
2019-09-11 18:41:05 +10:00
09d3392aee
AP_InertialSensor: zero accumulators on time step
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this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
2019-07-07 19:03:01 +10:00
Andrew Tridgell
Andy Piper
Peter Barker
Iampete1
bugobliterator
Josh Henderson