Andy Piper
bd05b548a7
AP_InertialSensor: use freq_min_ratio on notch tune setup
...
set harmonics in notch setup
2023-01-24 10:56:33 +11:00
Peter Barker
e5c3dd871c
AP_InertialSensor: create explicit define for AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
...
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
Peter Barker
95527894de
AP_InertialSensor: define AP_INERTIALSENSOR_ENABLED in a new AP_InertialSensor_config.h
2023-01-04 18:02:34 +11:00
Andy Piper
90cdc1aa52
AP_InertialSensor: allow FFT window to be captured post-filter
...
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
Andy Piper
9eb561639b
AP_InertialSensor: add support for reading and writing INS data from a file in SITL
...
allow sketch to be stopped at end of SITL samples
2022-12-28 18:14:56 +11:00
jackhong12
4a4f361a17
all: use CLASS_NO_COPY() macro
2022-10-04 11:23:04 +11:00
murata
a6d7d39364
AP_InertialSensor: Allow gyro counts to be returned
2022-09-20 09:37:29 +10:00
Peter Barker
e4ce4ebed3
AP_InertialSensor: remove un-needed methods
2022-07-19 10:30:36 +10:00
Andy Piper
9d851a0c1a
AP_InertialSensor: allow concurrent logging of both pre- and post-filter IMU data for FFT
...
remove batch logging bitfields
2022-07-03 18:19:55 +10:00
Andrew Tridgell
9ac3472b47
AP_InertialSensor: add set_inactive() on notch filters
2022-06-30 20:58:37 +10:00
Andy Piper
e0b7e5f2a5
AP_InertialSensor: add throttle-based notch setup function
...
allocate harmonic notch filter if FFT is enabled
2022-05-04 17:05:51 +10:00
Peter Barker
94dc0e78cd
AP_InertialSensor: tidy includes
2022-05-03 09:14:58 +10:00
Andrew Tridgell
dff0e5ecc1
AP_InertialSensor: fixed the last notch values to be per-instance
...
thanks to Andy for noticing this
2022-04-19 09:39:03 +10:00
Andrew Tridgell
e2e1e74da5
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
2022-04-19 09:39:03 +10:00
Andrew Tridgell
e67d9b4179
AP_InertialSensor: support two full harmonic notch filters
2022-04-19 09:39:03 +10:00
Andrew Tridgell
ab5e8419d8
AP_InertialSensor: move INS_HNTC2 to a new parameter table ID
2022-04-16 08:14:06 +10:00
Andy Piper
29e8f96275
AP_InertialSensor: move frontend update into ramfunc.
2022-04-12 09:19:45 +10:00
Peter Barker
3dae386ae3
AP_InertialSensor: correct compilation with HAL_INS_ACCELCAL_ENABLED false
2022-03-22 10:39:44 +11:00
Peter Barker
da21b48f7e
AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Iampete1
b77476caa1
AP_InertialSensor: remove custom orentations
2022-03-02 18:16:42 +11:00
Andy Piper
c7a43f2a90
AP_InertialSensor: put some functions in fast ram
...
precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
2022-02-09 12:47:55 +00:00
Peter Barker
c1c329e2b4
AP_InertialSensor: add and use AP_SIM_INS_ENABLED
2022-01-17 19:14:39 +11:00
Jaaaky
f80a9ba3ce
AP_InertialSensor: Fix issue #19599 Failed to build Pixhawk1 with O3
...
As suggested by @tridge
2022-01-17 08:33:27 +11:00
Peter Barker
6084682634
AP_InertialSensor: move INS notch filter logging into INS
2022-01-05 16:34:36 +11:00
Andy Piper
d44478ff59
AP_InertialSensor: calculate number of notches based on motor count
...
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
2021-12-22 18:13:38 +11:00
Jaaaky
bbb38504d6
AP_InertialSensor: Fix multi #include's
2021-12-21 10:38:46 +11:00
Peter Barker
dac4134533
AP_InertialSensor: move from HAL_NO_GCS to HAL_GCS_ENABLED
2021-09-22 21:37:00 +10:00
Andrew Tridgell
fefade783b
AP_InertialSensor: allow accelcal with a rotation
2021-09-17 14:07:14 +10:00
Peter Barker
52a52e1e5b
AP_InertialSensor: remove HIL support
2021-06-15 09:47:31 +10:00
Josh Henderson
9792202810
AP_InertialSensor: Privatize Logging
2021-04-29 19:19:12 +10:00
Andrew Tridgell
b3ed4f4b12
AP_InertialSensor: fixed handling of more than 3 accel/gyro instances
...
allows for first 3 to work without a panic
2021-04-13 09:36:52 +10:00
Peter Barker
2b0bf45891
AP_InertialSensor: remove separate calls to get delta-times for vel and ang
2021-03-13 11:29:29 +11:00
Andrew Tridgell
25dd08a1fd
AP_InertialSensor: added force_save_calibration()
2021-02-15 07:24:40 +11:00
Andrew Tridgell
6c8a57c2d7
AP_InertialSensor: review fixes
2021-01-21 13:09:21 +11:00
Andrew Tridgell
5e60fac37e
AP_InertialSensor: remove unused variable
2021-01-21 13:09:21 +11:00
Andrew Tridgell
285b53fe07
AP_InertialSensor: use vector polyfit
...
this reduces memory usage
2021-01-21 13:09:21 +11:00
Andrew Tridgell
ffe20f7958
AP_InertialSensor: use a fixed reference temperature of 35C
...
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127
AP_InertialSensor: added INS_TCAL_OPTIONS
...
make persistent params optional, and allow save of accelcal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
1ddc21c9bb
AP_InertialSensor: support saving tempcal params persistently
2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1
AP_InertialSensor: start auto-learning at boot
...
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
Andrew Tridgell
30e55d8dfc
AP_InertialSensor: cope with user changing TMAX while calibrating
2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce
AP_InertialSensor: catch user attempt to change TMAX during cal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d
AP_InertialSensor: added notify events for temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d
AP_InertialSensor: change TCAL sampling to be even in temperature
2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
...
use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b
AP_InertialSensor: expose TCal class for use in SITL
2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
...
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
Andrew Tridgell
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
Peter Barker
72acc8bfc8
AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt
2020-11-29 13:21:53 +11:00
Andrew Tridgell
f6c45c3bcd
AP_InertialSensor: cope with INS_MAX_INSTANCES < 3
2020-11-10 16:15:45 +11:00