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1252 Commits

Author SHA1 Message Date
Andrew Tridgell 53ee7d6e75 AP_InertialSensor: fixed check for changes to notch filters 
if the configured freq changes on any type of notch then A and Q
change, so init must be called. This does not affect only Fixed
notches
 2024-11-30 17:59:47 +11:00
Eric Katzfey 115e5254d9 AP_InertialSensor: Added explicit casts to get rid of Qurt compiler warning about implicit casts 2024-11-20 15:06:37 +11:00
Jacob Dahl 8413ab2bf2 AP_InertialSensor: added IIM42653 support 2024-11-13 06:39:29 +11:00
Andy Piper c0ce5e5ed0 AP_InertialSensor: optimize Invensense v3 FIF read 2024-11-12 11:36:59 +11:00
Andy Piper d76132ec63 AP_InertialSensor: ensure fifo reads use transfer() to optimize buffer allocation and copying 2024-11-12 11:36:59 +11:00
bugobliterator 9381404a9f AP_InertialSensor: fix continuing after ins init fail in AP_Periph 2024-10-23 06:46:22 +09:00
Andy Piper cb111504e2 AP_InertialSensor: cope with negative ESC frequencies in notch updates 2024-10-09 18:31:57 +11:00
Peter Barker 7147a2deeb AP_InertialSensor: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker b5cd3370eb AP_InertialSensor: add missing include for AHRS 
we use a method from this library
 2024-09-06 08:52:01 +10:00
Peter Barker a0c57291d7 AP_InertialSensor: correct compilation when logging disabled 2024-09-02 11:53:12 +10:00
Andy Piper 98f3a4b7d5 AP_InertialSensor: allow backend filters to be updated independently from a separate thread 2024-08-23 18:34:28 +10:00
Iampete1 89297737ea AP_InertialSensor: move to new constant dt low pass filter class 2024-08-20 09:09:41 +10:00
Peter Barker f389549d5d AP_InertialSensor: correct warnings on static_assert requiring a message 2024-08-13 08:38:00 +10:00
James O'Shannessy 66817e207f AP_InertialSensor: Check the gyro/accel id has not been previously registered 
If the Gyro/Accel ID is already in the registered list, do not try to add it again.

This stops an issue seen on a CubeOrangePlus BG3 where, during the very first boot after a parameter wipe, software incorrectly registers a fourth IMU.
The Fourth IMU is registered because the AUX IMU is the same DevID as the third ICM45686.
 2024-07-25 09:49:35 +10:00
James O'Shannessy c771440ea4 AP_InertialSensor: Fix persistent storing of IMU Z Scale 
Fixes INSn_ACCSCAL_Z not being stored in persistent storage when bootloader is flashed.
 2024-07-23 11:59:49 +10:00
Peter Barker ef0de65347 AP_InertialSensor: tidy IMU killing 2024-07-10 18:17:00 +10:00
muramura e48044dc45 AP_InertialSensor: Clearly state the maximum G-force 2024-07-10 10:07:16 +10:00
Andy Piper a86f4fdc8f AP_InertialSensor: move gyro and accel instance ids into AP_InertialSensor_Backend 2024-06-26 17:14:56 +10:00
Peter Barker 8ddac54b17 AP_InertialSensor: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Andrew Tridgell e9d39d80f4 AP_InertialSensor: fixed ICM42670 
highres sampling is not working on the ICM42670 on some versions of
the Pixhawk6X. Disable for now.
 2024-06-07 19:44:48 +10:00
Andrew Tridgell e97a6c7089 AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Andrew Tridgell a0acccb1f9 AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Andy Piper f78eb58fb4 AP_InertialSensor: ensure that notches get updated while converging 2024-05-03 07:34:21 +10:00
Andy Piper 30877cf11f AP_InertialSensor: allow FIFO rate logging for hires sampling 2024-05-02 11:01:20 +10:00
James O'Shannessy 9dbc61f85b AP_InertialSensor: Fix parameter name when saving persistent accel cals for Aux IMUs 
Without this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU3_ACCOFFS_*

After this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU4_ACCOFFS_*
 2024-04-05 11:02:04 +11:00
James O'Shannessy ac271cf4e0 AP_InertialSensor: Improve bitmask indicating persistent parameters on bootloader flash 
INS_TCAL_OPTIONS parameter description indicates a singular bit in a bitmask to persist Accels/TCAL parameters, however there are two separate bits for persistence.
 2024-03-26 11:39:11 +11:00
Peter Barker 6de3cce480 AP_InertialSensor: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Andrew Tridgell 7353001646 AP_InertialSensor: adjust logging descriptions 2024-03-16 06:54:27 +11:00
Andrew Tridgell d7d854a60f AP_InertialSensor: call logging function for notch centers and harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell 88fb38b524 AP_InertialSensor: added comments 2024-03-16 06:54:27 +11:00
Andrew Tridgell 25ffcc1580 AP_InertialSensor: use num_composite_notches() 
this prevents duplication of the logic for the priority of the double
notch vs the triple notch option
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 08ccead215 AP_InertialSensor: fixed num_filters to be uint16_t 
max is more than 256
 2024-03-16 06:54:27 +11:00
Andrew Tridgell de8bec596e AP_InertialSensor: removed zero checks and clamping on notch filters 
and pass params object down into HarmonicNotchFilter
 2024-03-16 06:54:27 +11:00
Patrick José Pereira 5b1cac268b INS_generic: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Andrew Tridgell 66ff84e6fb AP_InertialSensor: fixed wait_for_sample() in examples 2024-02-28 19:22:14 +11:00
Andrew Tridgell 280bc3a285 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-02-27 21:10:20 +11:00
Peter Barker 477fa3e161 AP_InertialSensor: move logger object up to AP_Vehicle 2024-02-13 10:54:29 +11:00
Hayden Donald fdf56c2ec4 AP_InertialSensor: Move accel/gyro_consistent to AP_IntertialSensor 
Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
 2024-02-09 18:54:43 +11:00
Peter Barker 6a897f01d8 AP_InertialSensor: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker 1051da5cb4 AP_InertialSensor: correct compilation when AP_AHRS_ENABLED is off 
e.g. CubeOrange-periph-heavy
 2024-01-16 16:14:04 +11:00
Peter Barker a81b229997 AP_InertialSensor: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Andrew Tridgell 9c8fa7f58c AP_InertialSensor: fixed build of NONE backend 
conflict with rand_float()
 2024-01-07 20:51:55 +11:00
muramura 4765ba8218 AP_InertialSensor: Specify the number of arrays by sizeof 2024-01-04 10:24:44 +11:00
Peter Barker 68d8a2606d AP_InertialSensor: SITL: call logging singleton methods only if available 2024-01-03 18:33:41 +11:00
Andrew Tridgell da7c556f77 AP_InertialSensor: avoid fcntl.h 
allows mixing of lwip and sockets
 2024-01-03 12:14:47 +11:00
Andrew Tridgell aba5ec6854 AP_InertialSensor: added support for writing raw IMU data to a UART 
this is for supporting external visual odomotry systems which need the
IMU data to correctly process image data

# Conflicts:
#	libraries/AP_InertialSensor/AP_InertialSensor.cpp
 2023-11-30 07:05:02 +11:00
Iampete1 eb4e3fc36a AP_InertialSensor: init all notch center frequencies 2023-11-28 18:05:37 +11:00
Andrew Tridgell 483d19f44c AP_InertialSensor: apply stuck gyro fix to all IxM42xxx sensors 
TDK has confirmed this applies to all IxM42xxx sensors
 2023-10-29 08:24:04 +11:00
Andy Piper 7ca2a4da56 AP_InertialSensor: remove ICM42xxx defaults 2023-10-25 19:23:11 +11:00
Andrew Tridgell 2688848cd1 AP_InertialSensor: fixed orientation of batch sampled data 
we need to rotate the data so that FFT displays match the configured
orientation
 2023-10-25 19:23:11 +11:00