152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
9c6bd38e91
AP_InertialSensor: sanitize includes
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Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.
With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.
Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:
$ waf copter
'copter' finished successfully (0.000s)
Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
[370/370] Linking build/minlure/bin/arducopter
Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
2016-02-01 14:18:51 -02:00
ccd915eb67
AP_InertialSensor: moved raw gyro and accel logging to common code
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this brings raw logging to non-PX4 ports
2015-11-16 17:57:35 +11:00
75ea8f3dc0
AP_InertialSensor: removed "have sample" logic from drivers
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the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
0e4bab74ba
AP_InertialSensor: simplify sensor backends
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use common code for filtering and update, allowing each sensor driver
to be simpler and more consistent
2015-11-16 17:57:35 +11:00
5244559010
Minimize AP_Progmem.h includes
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Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
4e83f7b02c
AP_InertialSensor: PX4: don't calculate delta angle
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Delta angle calculation will be unified.
2015-10-22 16:53:11 +11:00
f769a39449
AP_InertialSensor: PX4: don't calculate delta velocity
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Delta velocity calculation will be unified.
2015-10-22 16:31:07 +11:00
7789aec85b
AP_InertialSensor: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:43 +10:00
f831c16238
AP_InertialSensor: use fixed sensor sample times
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this uses fixed sample times for PX4 IMUs, rather than reported
timestamps. It avoids timing jitter caused by the over-sampling in
the PX4 drivers
2015-06-17 13:03:56 +10:00
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
2015-04-03 14:54:06 -07:00
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
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this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
5d0eb49114
AP_InertialSensor: calculate queue depth based on requested sample rate
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this auto-scales the queue depth for plane, rover and copter
2015-03-12 12:50:30 +11:00
bc655ff0cc
AP_InertialSensor_PX4: add optional debug
2015-03-12 12:50:28 +11:00
074ee49cd0
AP_InertialSensor_PX4: interleave accel and gyro samples by time
2015-03-12 12:50:28 +11:00
addf80b669
AP_InertialSensor_PX4: explicitly configure sensors, publish deltas
2015-03-12 12:50:27 +11:00
dae32984f1
AP_InertialSensor: use PX4 library for VRBRAIN boards.
2015-02-02 08:43:59 +11:00
6a93148b92
AP_InertialSensor: added library for VRBRAIN Inertial Sensor
2015-02-02 08:43:58 +11:00
aeaa3c1e04
AP_InertialSensor: fixed build for VRBrain
2014-10-24 12:10:41 +11:00
a047d1f569
AP_InertialSensor: moved default filter and sample_rate to frontend
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this simplifies the backends and prevents code repitition
2014-10-24 12:10:40 +11:00
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
2014-10-24 12:10:37 +11:00
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
33fe778cdd
InertialSensor_PX4: resolve compiler warning
2014-02-21 13:53:34 +09:00
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
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allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
6d39cf5e49
AP_InertialSensor: another attempt at fixing the spurious bad gyro health warnings
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cope with _get_sample() not being called for a while
2013-12-14 15:47:49 +11:00
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
2013-12-09 20:02:04 +11:00
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
d9b6f7f0f7
AP_InertialSensor: implement up to two sensors on PX4
2013-12-09 17:34:05 +11:00
f10a4b04ae
AP_InertialSensor: make PX4 healthy call _get_sample()
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this prevents a false positive during times like arming where we are
not reading the sensors
2013-11-10 17:03:16 +11:00
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
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used to detect bad accels
2013-11-07 13:53:59 +11:00
8532e2bff8
AP_InertialSensor: fixed timing of PX4 sensor samples
2013-10-13 22:15:50 +11:00
e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
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this waits for a new INS sample to arrive, using whatever method is
most efficient on each INS type
2013-10-08 17:31:15 +11:00
14636e1cdf
AP_InertialSensor: changed num_samples_available() to sample_available()
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this makes the interface clearer. It also fixes a 3D accel cal bug.
2013-09-27 10:49:00 +10:00
e5ad9dbd15
AP_InertialSensor: switch PX4 driver to fixed time per sample model
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this makes the driver much simpler, and does away with the need for an
accumulate function
2013-08-30 13:01:33 +10:00
38fe89d661
AP_InertialSensor: switch to non-averaging system for PX4 IMUs
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always use the latest value, based on a lowpass filter in the driver
2013-08-30 13:01:33 +10:00
46c5d18585
AP_InertialSensor: disable averaging on FMUv2
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the new filter from Leonard means we shouldn't average values, and
instead just use the last value
2013-08-30 13:01:33 +10:00
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
2013-04-12 14:30:35 +10:00
1121254606
AP_InertialSensor: added filter frequency support to PX4 driver
2013-02-07 11:20:45 +11:00
5643c371b9
AP_InertialSensor: removed unused new_data_available() and temperature() APIs
2013-02-07 10:23:37 +11:00
f60d657f72
AP_InertialSensor: added timer for accumulating samples for PX4
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this makes the driver much more tolerant of sketch timing errors
2013-01-21 21:51:32 +11:00
3d0cb755d2
AP_InertialSensor: user a timer to drive data collection on PX4
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this reduces the chance of missing a sample if the main sketch is a
bit slow
2013-01-21 19:44:01 +11:00
16d72ca160
AP_InertialSensor: update PX4 driver to use read() method
2013-01-20 22:13:20 +11:00
6142eac4b4
AP_InertialSensor: simplify get_delta_time() API
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use a single float return rather than two APIs.
This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
2013-01-11 21:17:21 +11:00
ae09b31176
AP_InertialSensor: added PX4 gyro/accel driver
2013-01-04 14:25:57 +11:00
Mathieu OTHACEHE
Lucas De Marchi
Andrew Tridgell
Gustavo Jose de Sousa
Jonathan Challinger
Emile Castelnuovo
LukeMike
Andrew Tridgell
Randy Mackay