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24938 Commits

Author SHA1 Message Date
Andrew Tridgell 60801314e0 HAL_PX4: added different modes for external SPI 
and lower bus speed to 1MHz
 2016-11-25 21:24:10 +11:00
Andrew Tridgell bcb6663187 HAL_PX4: added table of actual bus speeds for SPI 2016-11-25 20:31:43 +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 7100272f14 AP_HAL: default to register checking every 10th call 
this saves having this in nearly all callers
 2016-11-25 20:31:36 +11:00
Andrew Tridgell 0e793e1214 HAL_PX4: lower SPI bus speed on invensense devices 
now we are using DMA we don't need such high bus speed, and this makes
SPI reliable with a wider range of devices.
 2016-11-25 18:32:19 +11:00
Andrew Tridgell 7d57f00ca0 AP_Compass: removed debug line 
this is now common when using in-tree drivers
 2016-11-25 18:23:53 +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 026c65d364 PX4Firmware: submodule update 
added SPI DMA support on stm32
 2016-11-25 17:50:49 +11:00
Andrew Tridgell f62972d966 AP_Compass: fixed build on bhat 
enable both compasses if found
 2016-11-25 17:50:24 +11:00
Andrew Tridgell 1f403b02ef AP_Compass: switch to continuous 155Hz mode for LIS3MDL 2016-11-25 17:50:24 +11:00
Andrew Tridgell 62805f59fa AP_Compass: added AK09916 driver 
yet another magnetometer!
 2016-11-25 17:50:24 +11:00
Andrew Tridgell 17a117b324 AP_Compass: be a bit less verbose in startup 2016-11-25 17:50:23 +11:00
Andrew Tridgell 0e4b8781b2 AP_Compass: auto-detect LIS3MDL compass 2016-11-25 17:50:23 +11:00
Andrew Tridgell b6b2919126 AP_Compass: don't panic on too many compasses 
just use the first ones found. Panicing because you have too many
isn't useful
 2016-11-25 17:50:23 +11:00
Andrew Tridgell 40ef68f104 AP_Compass: added a LIS3MDL compass driver 2016-11-25 17:50:23 +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 29bbee421e HAL_PX4: enable sharing of SPI bus with PX4 with DMA 2016-11-25 17:50:18 +11:00
Andrew Tridgell 7ad1e98de9 PX4NuttX: support DMA on SPI 2016-11-25 17:49:58 +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 3fad5ca065 HAL_PX4: implement DMA allocation routines 2016-11-25 17:49:58 +11:00
Andrew Tridgell e42bb20052 AP_HAL: added dma allocation routines to hal.util 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
Andrew Tridgell b165e025d9 Filter: added new constructor for 1p filter 
allow both sample rate and cutoff to be specified in constructor
 2016-11-25 17:49:57 +11:00
Andrew Tridgell 7220dc15f9 HAL_PX4: adjusted bus speeds on invensense sensors 2016-11-25 17:49:57 +11:00
Andrew Tridgell 5934a099a4 AP_HAL: added support for more SRXL varients 
based on work by Roman Seb <roman-29188@gmx.de>
 2016-11-24 22:54:23 +11:00
Andrew Tridgell 65ce9821be PX4Firmware: submodule update 
update to SRXL driver from Roman Seb
 2016-11-24 22:54:23 +11:00
priseborough 0a177d04fd AP_NavEKF2: Simply core switch implementation 
Functionally equivalent
 2016-11-24 19:58:10 +09:00
priseborough 7d48054e6f AP_NavEKF2: Group GPS innovation tests when compiling error score 2016-11-24 19:58:07 +09:00
Randy Mackay e9ea06bd10 AP_NavEKF2: minor comment fix 2016-11-24 19:58:03 +09:00
Randy Mackay a32068a973 AC_WPNav: remove ekf position reset handler 
This has been migrated to the position control library
 2016-11-24 19:58:00 +09:00
Randy Mackay 1012333eef AC_PosControl: add ekf position reset handling 
Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
 2016-11-24 19:57:56 +09:00
Randy Mackay c615bac1cd AP_AHRS: add getLastPosDownReset accessor 2016-11-24 19:57:53 +09:00
Randy Mackay 6406e34016 AC_WPNav: remove unused _loiter_step member 2016-11-24 19:57:50 +09:00
priseborough 0df45703f1 AP_NavEKF2: Fix errors in position reset delta publishing 2016-11-24 19:57:47 +09:00
priseborough f6021c959d AP_NavEKF2: capture and publish vertical position reset deltas 
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
 2016-11-24 19:57:45 +09:00
priseborough e62863f9a1 AP_NavEKF2: Reduce unnecessary EKF core switching 
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
 2016-11-24 19:57:41 +09:00
murata de153ce1d7 AP_NavEKF: Correct the setting process of variable dAngBiasSigma. 2016-11-24 03:24:18 +00:00
murata ec42ddfb4e AP_NavEKF: style changes (tab to spaces, etc.) 
AP_NavEKF: style changes (tab to spaces, etc.)

AP_NavEKF: style changes (tab to spaces, etc.)
 2016-11-24 03:24:18 +00:00
Pierre Kancir 5ed9d22bf6 Rover: correct indentation and style on GCS_Mavlink 
Remove trailling whitespace, tabs, limit single line if-statement scope, add missing space
 2016-11-24 09:34:48 +11:00
Pierre Kancir 326e0f224f Rover: added SYSID_ENFORCE parameter 2016-11-24 09:34:48 +11:00
Pierre Kancir 8c0de11d6d APMrover2: remove double include stdarg.h 2016-11-23 18:47:34 +00:00
ShingoMatsuura e9feb7bdda AP_RangeFilnder: moved the const buffer definition to the header and changed from '8' to 'sizeof(send_request_buffer)' 2016-11-23 10:28:38 -08:00
ShingoMatsuura f97ede9865 AP_RangeFilnder: change send_request_buffer member variable to const and other fixes 2016-11-23 10:28:38 -08:00
ShingoMatsuura e8ff156fa6 AP_RangeFilnder: add clear buffer at INIT state and change send_buffer to member variable to reduce CRC computation for sending request 2016-11-23 10:28:38 -08:00
ShingoMatsuura c1c643e56e AP_RangeFinder: remove clear buffer in send_request 2016-11-23 10:28:38 -08:00
Leonard Hall ea0e413b04 AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero 2016-11-23 14:43:29 +09:00
murata ae927e1775 DataFlash: Adjust the return value to the type of the method. 
DataFlash: Adjust the return value to the type of the method.
 2016-11-22 10:07:16 -08:00