87b30b4552
global: use static method to construct AP_InertialSensor
2017-09-26 03:01:21 +01:00
d566567d87
AP_InertialSensor: add static create method
2017-09-26 03:01:21 +01:00
caa4e3ee89
AP_InertialSensor: remove raspilot
2017-09-12 15:06:19 -07:00
06fe5ce8ba
AP_InertialSensor: implement periodic thread for AuxiliaryBus
2017-09-11 09:52:41 -07:00
7e1368f7a5
AP_InertialSensor: implement notch filter on gyro
2017-08-29 13:52:29 +10:00
ca3627c140
AP_InertialSensor: add ppro support
2017-07-24 13:47:06 +10:00
51fa8fb0bd
AP_InertialSensor: resolve member init order compiler warning
2017-07-07 17:27:23 +09:00
edc9d4db5b
AP_InertialSensor: increase accel filter to 20hz
2017-07-03 09:38:15 +09:00
6ae86a0b8c
AP_InertialSensor: use DataFlash should_log to determine raw logging
2017-06-29 15:26:27 +01:00
447b20efa5
AP_InertialSensor: reduce accel filter to 10hz
2017-06-01 14:53:48 +09:00
62b826953d
AP_InertialSensor: use AP_Math rand_float()
2017-05-03 20:12:04 +10:00
bfd8d151c8
AP_InertialSensor: lower slave rate with fast sampling
...
On an invensense IMU with fast sampling we need to lower the slave
sample rate for slave sensors such as the built-in AK8963 compass on a
MPU9250.
The slave rate is set as a multiple of the main rate, so it needs to be
much lower for fast sampling. If we leave it high then it greatly
impacts on IMU sample rate.
Without this change a MPU9250 with fast sampling and a compass enabled
will give a gyro rate of around 7200Hz. With this change it gets 7760Hz
2017-05-02 12:11:08 +10:00
519a293af9
AP_InertialSensor: fixed instance usage in set_gyro_oversampling()
...
thanks Francisco!
2017-05-02 08:27:11 +10:00
112b22516a
AP_InertialSensor: fixed use of accel2_noise
...
thanks Francisco!
2017-05-02 08:24:50 +10:00
2876f1467c
AP_InertialSensor: converge sensor rate quickly, then slowly
...
converge fast for the first 60 seconds, then more slowly to reduce
noise
2017-05-01 15:13:56 +10:00
db25b6e966
AP_InertialSensor: estimate and log sensor rates for all IMUs
...
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
...
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
74eb7a7243
AP_InertialSensor: make SITL sensor rate match a Pixhawk1
...
use 760Hz 2nd gyro and 800 Hz 2nd accel
2017-05-01 15:06:46 +10:00
25cd16a275
AP_InertialSensor: fixed LSM303D registered sample rate
...
we are running the LSM303D at 1600Hz, and are sampling it at 1kHz. We
need to tell the AP_InertialSensor layer that samples will arrive at 1kHz
2017-05-01 15:06:46 +10:00
e62fdad12c
AP_InertialSensor: added get_last_update_usec()
...
this will be used by the inter-EKF scheduling changes
2017-05-01 14:24:55 +10:00
c952e58edb
AP_InertialSensor: fixed invensense driver temp reading
...
different parts have quite different zero offsets in temperature
2017-04-03 10:06:27 +10:00
2e4e4365d0
AP_InertialSensor: enable fast sampling for aerofc
2017-03-24 12:06:19 +11:00
87846fe049
AP_InertialSensor: use MPU6500 on aerofc
2017-03-24 12:06:19 +11:00
875274e761
AP_InertialSensor: added support for ICM-20602
...
treat the same as a 20608
2017-03-02 14:21:36 +11:00
b86513f503
AP_InertialSensor: support AUAV21 board
2017-03-01 17:24:10 +11:00
2d50eb312c
AP_InertialSensor: add support to MPU6500
...
Just like and MPU9250 without mag and with different WHOAMI register.
2017-02-26 13:37:13 +11:00
a3f5b4f319
AP_InertialSensor: Change from magic number 0 to definition name.
2017-02-18 14:12:36 +00:00
9535b45cc9
AP_InertialSensor: examples: fix double to float warnings
...
While at it add function prototype.
2017-02-12 01:22:35 +00:00
01da36295d
AP_InertialSensor: support the L3GD20H gyro
...
this is used by the MRo Pixhawk1
2017-01-31 07:39:36 +11:00
0733d760f6
AP_HAL_VRBRAIN: Unify from print or println to printf.
...
AP_InertialSensor: Unify from print or printin to printf.
2017-01-27 18:20:22 +11:00
2643e7e906
AP_InertialSensor: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
3d9dacb227
AP_InertialSensor: push gyro data for opticalflow
...
Do it only if there is an optical flow in the current HAL
2017-01-23 21:23:16 +11:00
5472bc4de1
Global: change Device::PeriodicCb signature
...
Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
62fabca19d
AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963
2017-01-11 21:44:24 -08:00
946d30476a
AP_InertialSensor: fix whoami for MPU6k
2017-01-05 10:29:51 +09:00
d56bad781f
AP_InertialSensor: change if statements to switch statement
...
No functional change
2016-12-24 12:23:59 +09:00
398b7b83dd
AP_InertialSensor: minor formatting fixes
...
No functional change
2016-12-24 12:23:58 +09:00
9569ed94a9
AP_InertialSensor: Invensense: use capital letters for define
2016-12-20 09:23:30 +09:00
a30745903a
AP_InertialSensor: use ACC2_BIAS
2016-12-19 08:07:15 +11:00
60ebe97e10
AP_InertialSensor: remove unused EKF1 include
2016-12-19 08:07:11 +11:00
65b9b86099
AP_InertialSensor: unify MPU6000 and MPU9250 drivers
...
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
2016-12-16 12:31:34 +11:00
de05e6ba29
InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 12:39:30 -08:00
13c16e187f
InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 10:59:45 -08:00
dfd58cc57b
AP_InertialSensor: fix build warning for MPU9250
2016-11-30 18:00:14 +09:00
699279ed1f
AP_InertialSensor: fix build warning for MPU6000
2016-11-30 18:00:13 +09:00
f9845c93b1
AP_InertialSensor: keep transfers nicely setup for DMA on stm32
...
this avoids using stack based bounce buffers which may not support DMA
on stm32
2016-11-27 11:26:10 +11:00
771cedca3d
AP_InertialSensor: reduced number of SPI transfers
...
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
2016-11-26 19:02:22 +11:00
27605b0258
AP_InertialSensor: run invensese reg checking at low speed
...
config register read/write should be at low bus speed.
also change to check every 20 calls to reduce checking cost
2016-11-25 20:31:40 +11:00
0f984290c3
AP_InertialSensor: enable fast sampling by default on some boards
2016-11-25 17:59:54 +11:00
f3a778f980
AP_InertialSensor: fixed freeing of fifo buffer
2016-11-25 17:50:19 +11:00
6f28c61c8d
AP_InertialSensor: changed SIZE to LEN
...
thanks to Lucas for suggestion
2016-11-25 17:50:19 +11:00
cb7f46d653
AP_InertialSensor: fixed handling of user_ctrl register
...
with aux bus implementations
2016-11-25 17:50:18 +11:00
9b4c588c09
AP_InertialSensor: adapt drivers for SPI-DMA capable systems
...
no longer need accumulate() transfers with SPI enabled DMA on stm32
2016-11-25 17:49:58 +11:00
28daddaaf2
AP_InertialSensor: don't use accumulate approach on Linux or I2C
2016-11-25 17:49:57 +11:00
d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
...
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.
It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.
Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.
Thanks to Leonard and Paul for help with this design!
2016-11-25 17:49:57 +11:00
87c6d5da13
AP_InertialSensor: replace panic() with return
...
When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
2016-11-21 18:04:10 -02:00
6129b1abb6
AP_InertialSensor: wait forever for semaphore on startup
...
some boards take a silly amount of time to get semaphore on startup
2016-11-21 17:57:21 -02:00
216cf53922
AP_InertialSensor: handle FIFO overflow for MPU6k and 9250
...
this prevents temporary corruption of INS data on FIFO overflow
2016-11-19 12:54:22 +11:00
18d4286166
AP_InertialSensor: fixed pixfalcon 9250 detection
2016-11-18 14:24:39 +11:00
cb1a5d4c74
AP_InertialSensor: take semaphore for update of accumulators
...
this fixes a race in update of delta angle and delta velocity between
backend and frontend
2016-11-18 06:32:17 +11:00
f3f1f6b0b6
AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk
2016-11-16 20:33:56 +11:00
6af00027ab
AP_InertialSensor: removed unused variables
...
thanks to Francisco for noticing
2016-11-16 08:41:06 +11:00
bfbb275577
AP_InertialSensor: on accel cal failure don't save values to zero
...
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
2016-11-15 11:42:54 -08:00
624178f3be
AP_InertialSensor: added INS_FAST_SAMPLE parameter
...
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
c0303ffe8a
AP_InertialSensor: temporarily disable fast sampling
...
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
2016-11-14 18:18:17 +11:00
c794ad9ee8
AP_InertialSensor: use smaller FIFO buffers
...
this allows for reading multiple chunks from the fifo per callback
2016-11-13 13:16:22 +11:00
8d19808152
AP_InertialSensor: fixed missing checked register goto
...
thanks to Francisco for spotting
2016-11-11 08:08:56 +11:00
49856c37f2
AP_InertialSensor: reduce checked register count
...
thanks to Francisco for spotting this
2016-11-11 08:08:56 +11:00
4be8f05ad4
AP_InertialSensor: added register checking for LSM9DS0
2016-11-11 08:08:56 +11:00
77a83c091a
AP_InertialSensor: added register checking for MPU6000/ICM20608
2016-11-11 08:08:56 +11:00
95a849f472
AP_InertialSensor: added register checking for MPU9250
2016-11-11 08:08:56 +11:00
3289e90134
AP_InertialSensor: added error count increments in drivers
2016-11-11 08:08:55 +11:00
4ebf3309f7
AP_InertialSensor: auto-handle invensense sensor changes
...
some boards swap out MPU6000 for MPU9250 or ICM20608
2016-11-11 08:08:55 +11:00
af0ec41652
AP_InertialSensor: fixed accel clip detection with fast sampling
...
we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
2016-11-10 13:04:15 +11:00
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
e27a76e460
AP_InertialSensor: fixed auxiliary bus with FIFO enabled
...
make sure fifo reset doesn't check I2C master enable
2016-11-10 11:44:51 +11:00
46785e8ecf
AP_InertialSensor: improved method for FIFO integrity checking
...
check temperature every 255 samples against FIFO data
2016-11-10 11:44:51 +11:00
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
e25a391a8f
AP_InertialSensor: fixed typo
2016-11-09 17:08:15 +11:00
d2f6a514b9
AP_InertialSensor: catch FIFO alignment errors using temperature reading
...
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
2016-11-09 17:08:15 +11:00
d248b33104
AP_InertialSensor: simplify config of MPU6000
...
use zero sample rate divider on both MPU6000 and ICM20608
2016-11-09 17:08:14 +11:00
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
...
very slightly faster
2016-11-09 17:08:13 +11:00
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
2016-11-09 17:08:12 +11:00
af1c5fd6d3
AP_InertialSensor: always use FIFO on MPU6000
...
and enable fast sampling on ICM20608 if on SPI
2016-11-09 17:08:12 +11:00
fde80a9408
AP_InertialSensor: modify LSM303D settings to match PX4 driver
...
this allows existing accel calibration to be used
2016-11-09 17:08:12 +11:00
a9a5e50bd1
AP_InertialSensor: removed timer callback for MPU6000
...
Thanks to Lucas for pointing out this is not needed
2016-11-09 17:08:11 +11:00
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
...
handle missing devices
2016-11-09 17:08:10 +11:00
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +11:00
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
2016-11-09 17:08:07 +11:00
106a91c64c
AP_InertialSensor: use init_gyro() on startup
...
this saves the calibration parameters which should be done on
calibration
2016-11-09 17:08:07 +11:00
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
2016-11-09 17:08:07 +11:00
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +11:00
aa4025bdf9
AP_InertialSensor: make INS sensor IDs match for PX4
...
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
104e29acf2
AP_InertialSensor: MPU6000: change accel scale to 16G
...
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
2016-11-09 17:08:06 +11:00
dc09661b9e
AP_InertialSensor: MPU6000: save driver version
...
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
2016-11-09 17:08:06 +11:00
0d3adef8b2
AP_InertialSensor: MPU6000: remove TODO leftover
...
This will never be done as blindly changing speed is not the way to fix
communication issues.
2016-11-09 17:08:05 +11:00
0a1616cc71
AP_InertialSensor: use correct device IDs on PX4 driver
2016-11-09 17:08:05 +11:00
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
...
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.
We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
2016-11-09 17:08:05 +11:00
bbb9bfa95e
AP_InertialSensor: save only gyro calibration
...
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.
Rename the method to _save_gyro_calibration() and save only on gyro
values.
2016-11-09 17:08:05 +11:00
f81dba2100
AP_InertialSensor: add doc to get_id() of backend
...
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
ace61087a1
AP_InertialSensor: remove product_id
...
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.
A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
2016-11-09 17:08:05 +11:00
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
ac2c25539b
AP_InertialSensor: implement device IDs for AuxilaryBus
2016-11-09 17:08:04 +11:00
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
2016-11-09 17:08:04 +11:00
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
38ff8b3536
AP_InertialSensor: removed unused product_id function in L3G4200D
2016-11-09 17:08:01 +11:00
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
...
use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
b92c48548a
AP_InertialSensor: added per-instance rotation for LSM9DS0
2016-11-09 17:08:00 +11:00
2df6ed08c2
AP_InertialSensor: added optional per-instance orientation
...
this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
ac2572384d
AP_InertialSensor: added start() method for LSM9DS0
...
needed to get sensor ordering right on multi-sensor boards
2016-11-09 17:08:00 +11:00
7832f1a1b6
AP_InertialSensor: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
90dc9e3327
AP_InertialSensor: dummy implementation of register_periodic_callback()
...
for AuxiliaryBus
2016-11-09 17:07:55 +11:00
91c4bf470f
AP_InertialSensor: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
afe2c31ae7
AP_Inertial_Sensor: use const reference
2016-10-27 15:06:11 +11:00
7460d97c9a
AP_InertialSensor: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
470f5c4562
AP_InertialSensor: Correct SITL IMU1 accel for position in body frame
2016-10-27 14:54:45 +11:00
54a431a51d
AP_InertialSensor: Update position offset parameter documentation
...
Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
2016-10-27 14:54:43 +11:00
6db93d8a21
AP_InertialSensor: Add parameters defining accelerometer position offset
2016-10-27 14:54:41 +11:00
0e19b8c9a0
AP_HAL_Linux: Set initial rotation on Dark to None
2016-10-24 10:00:24 -02:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
17883f6683
AP_InertialSensor: fix INS_generic example (call BoardConfig.init())
2016-10-24 11:00:22 +09:00
ae53920e5b
build: don't build examples with old build system
...
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file. Having the makefiles
there is misleading since people try to build and realize the build is
broken.
2016-10-11 13:03:08 +11:00
714c8fd318
AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop
...
Already present on Disco
2016-10-03 12:20:03 -03:00
6f9530ebaa
AP_InertialSensor: added optional FSYNC external sync bit
...
used to synchronise with image sensor on Disco
2016-09-05 12:55:32 +10:00
68fe536da3
AP_InertialSensor: use BMI160 for Intel Aero
2016-09-03 01:03:07 -03:00
b6c0e11200
AP_InertialSensor: BMI160: convert it to use Device periodic callback
...
Some notes:
- The only place that made sense to use
suspend_timer_procs()/resume_timer_procs() calls were where we registered
the timer process. Now there's no need for that anymore. Remove those calls
from other place in the source too.
- There's no need to acquire the device lock now that we are running as a
periodic callback.
2016-09-03 01:03:07 -03:00
a4d0ad8571
AP_InertialSensor: Fix name of sensor
2016-08-23 11:25:59 +09:00
36bdd7f1f1
AP_InertialSensor: MPU6000: Add missing read() check
2016-08-03 00:18:20 -03:00
cd0d65dc3f
AP_InertialSensor: don't check {gyro,accel}_available twice
...
That gives a slightly simpler code.
2016-07-22 19:58:08 -03:00
69405cc99a
AP_InertialSensor: fix timing debug macro
...
- Use "INS_" prefix for the name in order to limit the scope for that macro.
- Don't define it in the code and check if it is defined instead of checking
the value. With that, there's no need to touch the code for enabling debug,
only a reconfiguration is necessary (e.g., `CXXFLAGS='-DINS_TIMING_DEBUG' waf
configure ...`).
2016-07-21 19:01:28 -03:00
dd36952efe
AP_InertialSensor: BMI160: Register poll function with the timer lock
2016-07-21 15:42:32 -03:00
d30e55fa44
AP_InertialSensor: initial support for Disco
...
setup right orientation
2016-07-20 13:38:17 +10:00
6d1acc5813
AP_InertialSensor: BMI160: remove stray call to set speed
...
It's already supposed to be on high speed there.
2016-07-18 11:20:49 -03:00
ee7c40be61
AP_InertialSensor: BMI160: add backend
...
The reason of defining BMI160_MAX_FIFO_SAMPLES as 8 can be found on the
following histogram of the number of samples in the FIFO on each read while
performing the accelerometer calibration process:
Samples Count Freq Acc. Freq
------------------------------
1 3842 0.1201 0.120111
2 13172 0.4118 0.531904
3 9065 0.2834 0.815300
4 2710 0.0847 0.900022
5 2231 0.0697 0.969769
6 816 0.0255 0.995279
7 137 0.0043 0.999562
8 13 0.0004 0.999969
13 1 0.0000 1.000000
2016-07-15 16:46:06 -03:00
eee9fc88a1
AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED
2016-07-14 13:39:47 +10:00
33ce1213a2
AP_InertialSensor: call gyro_sample and accel_sample AP_Module hooks
2016-07-14 13:39:47 +10:00
cb858d2c99
AP_InertialSensor: fixed typo
2016-07-01 15:35:22 +10:00
834acaffee
AP_InertialSensor: provide IMU temperature to HAL for all boards
2016-07-01 15:29:52 +10:00
1f96336f7c
Global: rename bus type enum entries
2016-06-27 17:51:41 -03:00
f6bebc96c0
AP_InertialSensor: INS_generic: remove unused includes
2016-06-27 17:22:43 -03:00
e85ac8b2c5
AP_InertialSensor: inform maximum gyro average difference
...
While at it, define GYRO_INIT_MAX_DIFF_DPS.
2016-06-27 17:22:43 -03:00
e6f62080f5
AP_InertialSensor: fix best_diff on gyro initialization
...
Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
2016-06-27 17:20:51 -03:00
de94392759
AP_InertialSensor: MPU9250: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
83feb2e2ae
AP_InertialSensor: MPU9250: let Device handle read flag
...
There's no need to handle that in MPU9250 anymore.
2016-06-27 17:20:51 -03:00
1e99a7125c
AP_InertialSensor: MPU9250: remove _register_write_check()
...
That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
a6e5eb9e14
AP_InertialSensor: MPU6000: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
0718649c8b
AP_InertialSensor: MPU6000: let Device handle read flag
...
There's no need to handle that in MPU6000 anymore.
2016-06-27 17:20:51 -03:00
309fe4a88c
AP_InertialSensor: MPU6000: remove _register_write_check()
...
That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
34fa2a39bd
AP_InertialSensor: Changing the default gyro filter from 10 to 4
...
This change is only for Rovers.
2016-06-16 14:37:55 +09:00
b067bce140
AP_InertialSensor: remove support for flymaple
2016-05-23 21:49:45 -03:00
7503c1b6d4
AP_InertialSensor: update doc about used ids
2016-05-23 21:49:45 -03:00
d5a2c57c5e
AP_InertialSensor: Fix typos
2016-05-13 19:20:05 -03:00
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
be41d402b5
AP_InertialSensor: added set of delta angle time for replay
2016-04-26 15:50:46 +10:00
4401cbec72
AP_InertialSensor: cope with zero delta angle time from Replay
2016-04-26 15:37:11 +10:00
c3a6a56ebb
AP_InertialSensor: Add second MPU9250 autodetection to BBBmini
2016-04-24 10:57:57 -03:00
f304fcf4da
AP_InertialSensor: examples: add coding style fixes
...
Several coding style problems were already fixed by previous commit,
just finish the cleanup on this example:
- replace tabs with spaces
- remove unneeded \r
- remove extra spaces
2016-03-31 14:54:17 -03:00
10e7d43007
AP_InertialSensor: Add output of all IMUs to example
2016-03-31 14:54:17 -03:00
e33812e1cb
AP_InertialSensor: added missing brackets
2016-03-23 17:46:41 +09:00
1d1d224c18
AP_InertialSensor: Enable dual IMU for raspilot
2016-03-18 21:51:37 -03:00
f75c12f57c
AP_InertialSensor: LSM9DS0: change mode of drdy pins to input
2016-03-18 21:51:37 -03:00
c83e4df002
AP_InertialSensor: LSM9DS0: Disable I2C at init to avoid SDA hanging by slave.
2016-03-18 21:51:37 -03:00
557beb4bb1
AP_InertialSensor: LSM9DS0: Fixed wrong call to _register_read_xm()
2016-03-18 21:51:37 -03:00
057822b51c
AP_InertialSensor: AuxiliaryBus: fix return value
...
We should return the number of bytes written/read, not 0 on success.
This number may be useful in some cases so return it.
While at it fix a simple wrong space in the header.
2016-03-17 02:55:39 -03:00
4613b68efb
AP_InertialSensor: waf: skip VibTest example
...
The code is currently broken.
2016-03-14 11:54:31 -03:00
da550e5e98
AP_Inertial_Sensor: do not rotate MPU9250 on Navio2
2016-02-27 03:06:50 -03:00
c9d5c548a6
Corrects a bracket error for the LSM9DS0 IMU
...
Switches the probe of the accel and gyro so they boot correctly (was
failing the WHOAMI with a switched result)
2016-02-25 20:08:01 -03:00
c454631be8
AP_InertialSensor: work around gyro and accel errors on startup
2016-02-19 16:40:52 +09:00
02a7fa5c2b
AP_InertialSensor: MPU9250: use AP_HAL::Device abstraction
...
This makes MPU9250 be almost the same as MPU6000 driver. Work has been
done here to make than similar so it's easier to spot the differences.
2016-02-16 19:49:09 -02:00
d2b267d026
AP_InertialSensor: LSM9DS0: use AP_HAL::SPIDevice abstraction
2016-02-16 19:49:09 -02:00
58f4624f8c
AP_InertialSensor: L3G4200D: use AP_HAL::I2CDevice abstraction
2016-02-16 19:49:09 -02:00
af846636e4
AP_InertialSensor: MPU60x0: use AP_HAL::Device abstraction
2016-02-16 19:49:09 -02:00
c1d19fa4dc
AP_InertialSensor: LSM9DS0: sanitize whitespaces
2016-02-01 14:18:51 -02:00
9c6bd38e91
AP_InertialSensor: sanitize includes
...
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.
With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.
Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:
$ waf copter
'copter' finished successfully (0.000s)
Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
[370/370] Linking build/minlure/bin/arducopter
Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
2016-02-01 14:18:51 -02:00
1ca03006ad
AP_InertialSensor: MPU9150: remove driver
...
This is not used by any board and has a lot of commented out code. For
example, the compass is not enabled. The comment in the beginning of
the driver says it should serve as an example, but we should rather use
a working driver as an example. If this was at least a bit simpler and
that worked in the past we could refactor it to the new I2CDevice API.
This is not the case.
2016-02-01 14:18:51 -02:00
22f2a2ee09
AP_InertialSensor: L3G4200D: fix coding style
...
- remove trailing and leading whitespaces
- remove unecessary void from functions taking no parameters
2016-02-01 14:18:51 -02:00
637b53f4ce
AP_InertialSensor: L3G4200D: sanitize includes
2016-02-01 14:18:51 -02:00
5088dca072
AP_InertialSensor: MPU60x0: coding style fixes
2016-02-01 14:18:51 -02:00
ed653f8dbb
AP_InertialSensor: MPU60x0: add comment about 8G/16G
2016-02-01 14:18:51 -02:00
4c2e6af6ee
AP_InertialSensor: statically register with AP_AccelCal
2016-01-23 10:35:34 +09:00
081beacb8d
AP_InertialSensor: replace sqrt with safe_sqrt to resolve compiler warning
...
Also add suppressing comment for missing break at end of switch
2016-01-23 10:10:17 +09:00
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
...
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
3d22490397
waf: examples: use methods from bld instead of ardupilotwaf
2016-01-22 20:10:29 -02:00
24d8610013
AP_InertialSensor: use SIM_GYR_SCALE in SITL
2016-01-19 15:29:08 +11:00
ee453783eb
AP_InertialSensor: added get_delta_angle_dt() API
2016-01-19 09:50:21 +11:00
d281067bcc
waf: make example binaries be placed in 'examples' dir
...
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
e493bfcae4
AP_InertialSensor: add PXFmini support
2016-01-05 15:35:56 -02:00
b2745bb545
AP_InertialSensor: we only need peak hold for negative X for now
2016-01-02 09:58:32 +11:00
3aaf2b1d2b
AP_InertialSensor: add pos/neg peak detector
...
new functions that get a filtered min/max accel peaks on each axis with fixed 500ms timeout:
Vector3f get_accel_peak_hold_pos()
Vector3f get_accel_peak_hold_neg()
This allows slower mechanisms, such as is_flying, to detect accel spikes which would indicate ground or object impacts. Vibe is too filtered. Independent positive and negative peaks are available
2016-01-02 09:58:31 +11:00
bae16a61e2
AP_InertialSensor: fix segfault
2015-12-29 23:10:56 -08:00
Lucas De Marchi
Andrew Tridgell
Kevin Lopez Alvarez
Randy Mackay
Peter Barker
Leonard Hall
murata
Julien Beraud
mirkix
priseborough
Pierre Kancir
hiro2233
Francisco Ferreira
Martin Evans
Mathieu OTHACEHE
Gustavo Jose de Sousa
Murilo Belluzzo
José Roberto de Souza
Grant Morphett
Ricardo de Almeida Gonzaga
dgrat
AndersonRayner
ashwinvasudevan
raspilot
Staroselskii Georgii
Jonathan Challinger
Víctor Mayoral Vilches
Tom Pittenger