350140e030
AP_InertialSensor: support two full harmonic notch filters
2022-06-21 19:41:34 +09:00
05c90c4684
AP_InertialSensor: move frontend update into ramfunc.
2022-04-29 07:54:06 +09:00
c7a43f2a90
AP_InertialSensor: put some functions in fast ram
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precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
2022-02-09 12:47:55 +00:00
3fd79b8ffb
AP_InertialSensor: BMI270 driver
2021-12-31 09:25:29 +11:00
662327f2ea
AP_InertialSensor: added support for more ADIS IMUs
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support 32 bit delta angles and velocities
2021-12-29 18:25:18 +11:00
586c2064a6
AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors
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handle new Invensense v3 sensor types
2021-12-14 11:38:36 +11:00
2b20dcf128
AP_InertialSensor: move GYR & ACC logging functions to Logging.cpp
2021-05-01 14:15:58 +10:00
4cddf37984
AP_InertialSensor: log unexpected register changes
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when the register checking code finds an error we will log what
register changed and to what value
2021-02-24 18:18:37 +11:00
957842f7eb
AP_InertialSensor: added support for v3 Invensense sensors
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starting with ICM-40609, ICM-42688 and ICM-42605
2021-01-11 14:43:35 +11:00
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
faf9bbbf3a
AP_InertialSensor: make the backend fast gyro rate configurable
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raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
2020-07-10 16:45:29 +10:00
61bb42cc0c
AP_InertialSensor: allow up to four distinct notch center frequencies to be updated
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apply the LPF after the notch filters to reduced notch-induced noise
2020-06-21 19:09:35 +10:00
8ac79da643
AP_InertialSensor: FFT gyro window would overflow on windows >= 256
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convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
2020-05-24 07:43:34 +10:00
d772289b0d
AP_InertialSensor: added driver for ADIS16470
2020-04-13 11:57:04 +10:00
3d9776dd6d
AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis.
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FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
2020-02-22 11:15:37 +11:00
58708c483f
AP_InertialSensor: make all semaphores recursive
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the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
2020-01-19 20:19:30 +11:00
9dc618ddd4
AP_InertialSensor: added gyro_harmonic_notch_enabled()
2019-11-19 07:08:01 +08:00
5b7f9f6bea
AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value
2019-09-11 18:41:05 +10:00
3261677e01
AP_InertialSensor: remove _ prefix from methods. use changed filter methods.
2019-09-11 18:41:05 +10:00
50f7e50634
AP_InertialSensor: add harmonic notch filter to gyro filter chain
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Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats.
backend variables do not need to be indexed per-backed
2019-09-11 18:41:05 +10:00
36878e9b3c
AP_InertialSensor: Allow all filter frequencies to be 16bit.
2019-06-06 17:09:17 +10:00
18d403c3ac
AP_InertialSensor: Rework notch filter allocation and sampling
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https://github.com/ArduPilot/ardupilot/issues/11346
Allocate a notch filter per-IMU.
Update the notch filters in the backend at the sensor sample rate.
Allow raw logging of post-filtered gyro and accel values.
2019-06-06 17:09:17 +10:00
e0fc73776c
AP_InertialSensor: return floats from raw-sample-rate getters
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The underlying type changed at some stage but the getters did not
2019-04-09 10:02:16 +10:00
494a3f86ad
AP_IntertialSensor: support ICM20601 IMU
2019-03-28 09:15:27 +11:00
8c2d3945de
AP_IneertialSensor: add support for custom accel scale
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adds support for 30g measurement on ICM20649
2019-03-21 18:54:32 +11:00
81cd103073
AP_InertialSensor: probe for new v2 invensense IMUs
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also suppress LSM9DS0 whoami warnings, as these will now be common
with new IMUs
and make 20602 show up as a new devtype so we can distinguish it
2019-03-11 12:40:21 +11:00
528c0b4d7c
AP_InertialSensor: add drivers for register bank based Invensense Sensors
2019-03-06 20:47:10 +11:00
6048c10a7c
AP_InertialSensor: added driver for BMI088
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setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
2019-01-31 12:05:57 -08:00
9520f5f768
AP_InertialSensor: removed F4Light
2019-01-21 21:57:21 +11:00
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
755dc8dc5d
AP_InertialSensor: use WITH_SEMAPHORE()
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and removed usage of hal.util->new_semaphore()
2018-10-17 12:54:22 +11:00
5f8b57ba19
AP_InertialSensor: added SITL device IDs
2018-07-13 10:19:01 +10:00
89b8124560
AP_InertialSensor: added BMI055 IMU driver
2018-06-08 09:56:41 +10:00
1a640e3405
AP_InertialSensor: parameterise sensor-rate logging, generalise it
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AP_InertialSensor: add parameters for push-to-log interval and count
AP_InertialSensor: rename BAT_RAW to BAT_OPT
This becomes a bitmask of options for the BatchSampler
AP_InertialSensor: rename 'fast sample' to 'sensorrate sample'
AP_InertialSensor: const sensor-rate filter method
AP_InertialSampler: remove hard-coding of sample rate multiplier
AP_InertialSensor: use parameter to enable/disable sensor-rate logging
AP_InertialSensor: use a parameter to control sensor-rate logging
AP_InertialSensor: allow backends to override sensor data multiplier
e.g. some accelerometers are sensitive over wider ranges than the default 16G
AP_Inertialsensor: correct sample rate multiplier
2018-05-01 09:35:29 +10:00
44131202cd
AP_InertialSensor: 4kHz batch sampling
2018-05-01 09:35:29 +10:00
ca9d1a55fe
AP_InertialSensor: support ICM-20689 IMU
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like the 20789, but without the baro
2018-04-24 08:03:46 +10:00
0e6497aa85
AP_InertialSensor: merged in Revo driver
2018-02-10 09:14:41 +11:00
5a4f0fed2d
AP_InertialSensor: added ICM-20789 support
2018-02-08 17:36:33 +11:00
44d5112488
AP_InertialSensor: add LSM9DS1 support
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Make LSM9DS1 driver
2018-02-06 09:31:26 -08:00
24c424ae5d
AP_InertialSensor: support over 1kHz IMUs
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this allows for invensense IMUs to run above 1kHz by adjusting the
downsampling rate
2018-01-20 10:36:22 +11:00
efbb030494
AP_InertialSensor: add Robsense PhenixPro Devkit Board support
2017-11-22 10:10:21 -08:00
5096e2fca9
AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw
2017-10-27 16:33:45 +11:00
6ae86a0b8c
AP_InertialSensor: use DataFlash should_log to determine raw logging
2017-06-29 15:26:27 +01:00
db25b6e966
AP_InertialSensor: estimate and log sensor rates for all IMUs
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this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
2017-05-01 15:06:46 +10:00
49cc0965c0
AP_InertialSensor: separate handling of FIFO and non-FIFO sensors
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FIFO sensors produce data at a well known rate, but samples come in
bunches, so we can't use the system clock to calculate deltaT.
non-FIFO sensors produce data when we sample them, but that rate is
less regular due to timing jitter.
For FIFO sensors this changes makes us use a learned sample rate,
which allows for different clock speeds on sensor and system board.
For non-FIFO sensors we use the system clock to measure deltaT
the overall effect is a fix for sensors that produce samples at other
than the claimed datasheet rate.
2017-05-01 15:06:46 +10:00
624178f3be
AP_InertialSensor: added INS_FAST_SAMPLE parameter
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this allows enable/disable of fast sampling per IMU, making
experimentation easier.
It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
2016-11-15 21:16:40 +11:00
3289e90134
AP_InertialSensor: added error count increments in drivers
2016-11-11 08:08:55 +11:00
af0ec41652
AP_InertialSensor: fixed accel clip detection with fast sampling
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we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
aa4025bdf9
AP_InertialSensor: make INS sensor IDs match for PX4
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in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
f81dba2100
AP_InertialSensor: add doc to get_id() of backend
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This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
2016-11-09 17:08:05 +11:00
Andrew Tridgell
Andy Piper
QioTek
Josh Henderson
Peter Barker
na
Siddharth Purohit
Igor Anokhin
HeBin
Lucas De Marchi