Commit Graph

76 Commits

Author SHA1 Message Date
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
Andrew Tridgell 774e257a88 AP_InertialSensor: support FMUv4 2015-11-27 18:54:30 +11:00
Caio Marcelo de Oliveira Filho d7601095fa AP_InertialSensor: use millis/micros/panic functions 2015-11-20 12:31:41 +09:00
Andrew Tridgell ccd915eb67 AP_InertialSensor: moved raw gyro and accel logging to common code
this brings raw logging to non-PX4 ports
2015-11-16 17:57:35 +11:00
Andrew Tridgell 75ea8f3dc0 AP_InertialSensor: removed "have sample" logic from drivers
the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends
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
Gustavo Jose de Sousa 31a49d318c AP_InertialSensor: PX4: publish gyro raw sample rate
That enables delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 25a499a41f AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.

The changes in the code were basically done with the following commands:

git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"

git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"

And also with minor changes on indentation and comments.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 4e83f7b02c AP_InertialSensor: PX4: don't calculate delta angle
Delta angle calculation will be unified.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa dfd671c54e AP_InertialSensor: Backend: add hook for new gyro sample arrival
That hook will do common tasks for when new gyro raw sample is available.
2015-10-22 16:53:10 +11:00
Gustavo Jose de Sousa f769a39449 AP_InertialSensor: PX4: don't calculate delta velocity
Delta velocity calculation will be unified.
2015-10-22 16:31:07 +11:00
Gustavo Jose de Sousa a0b1337646 AP_InertialSensor: PX4: publish sample rate
By publishing the sample rate, the vibration and clipping are magically
calculated.
2015-09-07 11:14:42 +10:00
Gustavo Jose de Sousa 77a4f10d89 AP_InertialSensor: PX4: don't call calc_vibration_and_clipping()
That calculation will be unified.
2015-09-07 11:14:42 +10:00
Gustavo Jose de Sousa e06627dfcb AP_InertialSensor: Backend: add hook for new raw accel samples
That hook will eventually do necessary things when a new accelerometer raw
sample arrives (like calculating vibration levels).
2015-09-07 11:14:42 +10:00
Gustavo Jose de Sousa ac3a677626 AP_InertialSensor: remove param rotate_and_correct from publish functions
Once that parameter is always false.
2015-09-07 11:14:42 +10:00
Andrew Tridgell dc455a5fd6 AP_InertialSensor: setup for MPU9250 support on PX4 2015-08-17 09:33:15 +10:00
Gustavo Jose de Sousa 7789aec85b AP_InertialSensor: standardize inclusion of libaries headers
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
Andrew Tridgell 4fe092fead AP_InertialSensor: panic on bad gyro or accel sample rates 2015-06-17 15:01:23 +10:00
Andrew Tridgell d3b85eb792 AP_InertialSensor: use driver supplied sample rate
this will work with a wider range of sensors
2015-06-17 14:44:19 +10:00
Andrew Tridgell f831c16238 AP_InertialSensor: use fixed sensor sample times
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
Randy Mackay 0db7acc628 InertialSensor: calc vibration and accel clipping 2015-06-12 21:36:22 +09:00
Peter Barker 8be9e99fad AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages 2015-05-27 11:54:17 +10:00
Andrew Tridgell 7d90033a36 AP_InertialSensor: support raw accel and gyro dataflash logging 2015-05-07 12:08:30 +10:00
Tom Pittenger a4b8575432 InertialSensor: fix compile warnings re float constants 2015-04-24 14:03:49 +09:00
Jonathan Challinger 423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
Andrew Tridgell 23272e4013 AP_InertialSensor: added get_temperature() interface
this will allow logging of individual temperature sensors
2015-03-17 13:32:54 +11:00
Andrew Tridgell 3d7d46b9b0 AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
Andrew Tridgell 5d0eb49114 AP_InertialSensor: calculate queue depth based on requested sample rate
this auto-scales the queue depth for plane, rover and copter
2015-03-12 12:50:30 +11:00
Jonathan Challinger bc655ff0cc AP_InertialSensor_PX4: add optional debug 2015-03-12 12:50:28 +11:00
Jonathan Challinger 074ee49cd0 AP_InertialSensor_PX4: interleave accel and gyro samples by time 2015-03-12 12:50:28 +11:00
Jonathan Challinger addf80b669 AP_InertialSensor_PX4: explicitly configure sensors, publish deltas 2015-03-12 12:50:27 +11:00
Jonathan Challinger 155c173ed1 AP_InertialSensor: rename _rotate_and_offset to _publish 2015-03-12 12:50:27 +11:00
Andrew Tridgell 4537acb898 AP_InertialSensor: change for new PX4 device paths 2015-02-14 12:25:43 +11:00
Emile Castelnuovo dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
LukeMike 6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +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 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 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 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 a42af0f2f1 AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN 2014-10-24 12:10:38 +11:00
Andrew Tridgell d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell 5c9e5fbc11 AP_InertialSensor: removed use of hrt_absolute_time() 2014-08-20 09:10:24 +10:00
Andrew Tridgell ca12592448 AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk
this supports FMUv3
2014-06-30 07:58:27 +10:00
Andrew Tridgell 2c85a7ba56 AP_InertialSensor: expose get_primary_accel() for use in AHRS 2014-02-27 16:27:46 +11:00
Andrew Tridgell b1c5f23bbd AP_InertialSensor: make get_delta_time() const
allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
Randy Mackay b7565affcd INS: add support for 400hz for PX4 2014-02-15 05:27:33 +11:00
Andrew Tridgell 6d39cf5e49 AP_InertialSensor: another attempt at fixing the spurious bad gyro health warnings
cope with _get_sample() not being called for a while
2013-12-14 15:47:49 +11:00
Andrew Tridgell 99e2dc87c9 AP_InertialSensor: prevent INS healthy errors while initialising
during gyro cal we shouldn't mark the gyro unhealthy
2013-12-13 20:47:24 +11:00
Andrew Tridgell 433ad19335 AP_InertialSensor: fixed loop limits
stops pointless operations
2013-12-11 14:57:13 +11:00