Andrew Tridgell
40e83ceb1f
AP_InertialSensor: simplify next sample time calculations
...
this makes the calculation much clearer
2014-10-24 12:10:40 +11:00
Andrew Tridgell
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
Andrew Tridgell
17b2214798
AP_InertialSensor: make it easier to add multiple backends
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use _add_backend() to add new backends on startup
2014-10-24 12:10:40 +11:00
Andrew Tridgell
3a9a5a9c18
AP_InertialSensor: implement gyro and accel health monitoring
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sensor is healthy if it gave a sample on the last update()
2014-10-24 12:10:39 +11:00
Andrew Tridgell
dbcd02f2be
AP_InertialSensor: converted MPU9150 driver
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untested conversion
2014-10-24 12:10:38 +11:00
Andrew Tridgell
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
2014-10-24 12:10:38 +11:00
Andrew Tridgell
2d47a07480
AP_InertialSensor: ported L3G4200D driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
deafcd6ddc
AP_InertialSensor: improved timing in all drivers
2014-10-24 12:10:37 +11:00
Andrew Tridgell
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
ec11417705
AP_InertialSensor: converted HIL backend, which gets SITL working
2014-10-24 12:10:36 +11:00
Andrew Tridgell
448efc70a3
AP_InertialSensor: first steps in frontend/backend split
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This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
2014-10-24 12:10:36 +11:00
Randy Mackay
834f2bea07
INS: add gyro_calibrated_ok_all method
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This returns true if the gyros have been calibrated successfully
2014-10-09 10:00:07 +09:00
Randy Mackay
74553e523d
INS: add get_accel_health_all and get_gyro_health_all
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Returns true only if all available accels or gyros are healthy
2014-09-03 11:22:46 +09:00
Víctor Mayoral Vilches
0f908a8ccd
HAL_Linux: Add L3GD20 to the AP_InertialSensor header
2014-08-19 10:08:15 +10:00
Randy Mackay
51f40fe3d6
INS: add accessor for mpu6k filter
2014-08-14 11:47:23 +09:00
Randy Mackay
6baedbda1d
AP_InertialSensor: add empty virtual destructor
2014-07-16 14:56:56 +09:00
LukeMike
85fc72c57c
AP_InertialSensor: VRBRAIN added 3th inertial sensor
2014-07-15 20:42:15 +10:00
Andrew Tridgell
abb53eb9a2
AP_InertialSensor: simplify using HAL board subtypes
2014-07-14 09:44:35 +10:00
Andrew Tridgell
297bb52ced
AP_InertialSensor: added MPU9250 header
2014-07-14 09:44:34 +10:00
Andrew Tridgell
ab7e96b9de
AP_InertialSensor: updates for ERLE board type
2014-07-14 08:51:44 +10:00
Victor Mayoral Vilches
44320708a7
AP_InertialSensor_MPU9150: I2C userspace driver sensor added.
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The MPU9150 is a 9 axis sensor that includes 3 accelerometers,
3 gyroscopes and 3 magnetometers. All accessible through I2C.
The AP_InertialSensor_MPU9150 class allows APM to use this sensor.
2014-07-14 08:16:29 +10:00
Andrew Tridgell
ca12592448
AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk
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this supports FMUv3
2014-06-30 07:58:27 +10:00
LukeMike
8f552d5758
VRBRAIN: Changed the management of VirtualRobotix's boards.
2014-06-19 11:27:38 +02:00
Emile Castelnuovo
06744ea7d2
AP_InertialSensor: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
Jonathan Challinger
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
2014-02-28 17:25:54 +11:00
Andrew Tridgell
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
Andrew Tridgell
0e18079c47
AP_InertialSensor: allow HIL sensors to support multiple instances
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this allows log replay to test both sets of sensors on a Pixhawk log
2014-02-23 08:16:33 +11:00
Andrew Tridgell
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
Randy Mackay
b7565affcd
INS: add support for 400hz for PX4
2014-02-15 05:27:33 +11:00
Andrew Tridgell
58d3729d16
AP_InertialSensor: fixed default health functions
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this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
2014-01-22 22:08:28 +11:00
Andrew Tridgell
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
2013-12-09 20:02:04 +11:00
Andrew Tridgell
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
Andrew Tridgell
2753449e75
AP_InertialSensor: added support for multiple accel/gyro devices
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this makes it possible to ask for the gyro and accel vectors from
secondary INS devices.
2013-12-09 17:34:05 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
9ecd889e9d
AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed
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this uses bad data or bad INT_STATUS values from the MPU6000 to detect
the sensor running too fast and lower bus speed
2013-11-07 12:48:17 +11:00
Andrew Tridgell
1cd070a2e7
AP_InertialSensor: use const reference returns
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saves some vector copies
2013-11-04 21:21:42 +11:00
Andrew Tridgell
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
Andrew Tridgell
1aabd7155e
AP_InertialSensor: added L3G4200D driver
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this is for a cheap ebay 10DOF sensor
2013-10-08 11:50:53 +11:00
Andrew Tridgell
cf726c6642
AP_InertialSensor: rename Stub to HIL
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more consistent with other drivers
2013-09-28 22:04:15 +10:00
Andrew Tridgell
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
Mike McCauley
4d10a96077
AP_InertialSensor: Add flymaple support
2013-09-24 13:51:27 +10:00
Andrew Tridgell
f8e9d48a76
AP_InertialSensor: removed the flash_leds() callback
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AP_Notify now handles this
2013-09-19 18:32:19 +10:00
Andrew Tridgell
7b3a674d66
AP_InertialSensor: added set_default_filter() method
2013-09-09 19:18:52 +10:00
Andrew Tridgell
65a490c209
AP_InertialSensor: update for new notify API
2013-08-30 13:01:35 +10:00
Randy Mackay
5651bdbe3a
INS: integrate AP_Notify
2013-08-30 13:01:35 +10:00
Andrew Tridgell
f3f4b7205c
AP_InsertialSensor: added support for MAVLink user interaction
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allows APM to ask user to print enter to continue via MAVLink messages
during accel calibration
2013-05-08 16:18:40 +10:00
Randy Mackay
42bca90676
INS: add calibrated check
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Checks is the scaling vector has been updated. Required for pre-arm
checks for ArduCopter
2013-04-22 23:55:53 +09:00
Andrew Tridgell
17d7f1fbe5
AP_InertialSensor: make some interfaces const
2013-04-20 13:52:36 +10:00
Randy Mackay
af13f6795c
INS: switch to global definition of GRAVITY_MSS
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saves 4 bytes of RAM
2013-04-05 22:57:46 +09:00
