ccd915eb67
AP_InertialSensor: moved raw gyro and accel logging to common code
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this brings raw logging to non-PX4 ports
2015-11-16 17:57:35 +11:00
75ea8f3dc0
AP_InertialSensor: removed "have sample" logic from drivers
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the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
0e4bab74ba
AP_InertialSensor: simplify sensor backends
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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
31a49d318c
AP_InertialSensor: PX4: publish gyro raw sample rate
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That enables delta angle calculation.
2015-10-22 16:53:11 +11:00
25a499a41f
AP_InertialSensor: use raw sample rate terminology
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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
4e83f7b02c
AP_InertialSensor: PX4: don't calculate delta angle
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Delta angle calculation will be unified.
2015-10-22 16:53:11 +11:00
dfd671c54e
AP_InertialSensor: Backend: add hook for new gyro sample arrival
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That hook will do common tasks for when new gyro raw sample is available.
2015-10-22 16:53:10 +11:00
f769a39449
AP_InertialSensor: PX4: don't calculate delta velocity
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Delta velocity calculation will be unified.
2015-10-22 16:31:07 +11:00
a0b1337646
AP_InertialSensor: PX4: publish sample rate
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By publishing the sample rate, the vibration and clipping are magically
calculated.
2015-09-07 11:14:42 +10:00
77a4f10d89
AP_InertialSensor: PX4: don't call calc_vibration_and_clipping()
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That calculation will be unified.
2015-09-07 11:14:42 +10:00
e06627dfcb
AP_InertialSensor: Backend: add hook for new raw accel samples
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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
ac3a677626
AP_InertialSensor: remove param rotate_and_correct from publish functions
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Once that parameter is always false.
2015-09-07 11:14:42 +10:00
dc455a5fd6
AP_InertialSensor: setup for MPU9250 support on PX4
2015-08-17 09:33:15 +10:00
7789aec85b
AP_InertialSensor: standardize inclusion of libaries headers
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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
4fe092fead
AP_InertialSensor: panic on bad gyro or accel sample rates
2015-06-17 15:01:23 +10:00
d3b85eb792
AP_InertialSensor: use driver supplied sample rate
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this will work with a wider range of sensors
2015-06-17 14:44:19 +10:00
f831c16238
AP_InertialSensor: use fixed sensor sample times
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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
0db7acc628
InertialSensor: calc vibration and accel clipping
2015-06-12 21:36:22 +09:00
8be9e99fad
AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages
2015-05-27 11:54:17 +10:00
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
2015-05-07 12:08:30 +10:00
a4b8575432
InertialSensor: fix compile warnings re float constants
2015-04-24 14:03:49 +09:00
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
2015-04-03 14:54:06 -07:00
23272e4013
AP_InertialSensor: added get_temperature() interface
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this will allow logging of individual temperature sensors
2015-03-17 13:32:54 +11:00
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
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this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
5d0eb49114
AP_InertialSensor: calculate queue depth based on requested sample rate
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this auto-scales the queue depth for plane, rover and copter
2015-03-12 12:50:30 +11:00
bc655ff0cc
AP_InertialSensor_PX4: add optional debug
2015-03-12 12:50:28 +11:00
074ee49cd0
AP_InertialSensor_PX4: interleave accel and gyro samples by time
2015-03-12 12:50:28 +11:00
addf80b669
AP_InertialSensor_PX4: explicitly configure sensors, publish deltas
2015-03-12 12:50:27 +11:00
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
2015-03-12 12:50:27 +11:00
4537acb898
AP_InertialSensor: change for new PX4 device paths
2015-02-14 12:25:43 +11:00
dae32984f1
AP_InertialSensor: use PX4 library for VRBRAIN boards.
2015-02-02 08:43:59 +11:00
6a93148b92
AP_InertialSensor: added library for VRBRAIN Inertial Sensor
2015-02-02 08:43:58 +11:00
b9adc6e466
AP_InertialSensor: prefer sensors that have zero error counts
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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
7c288e020b
AP_InertialSensor: fixed detection of dead IMU
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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
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
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
586fa9a816
AP_InertialSensor: added product_id support
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fill in parameter from first backend
2014-10-24 12:10:39 +11:00
a42af0f2f1
AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN
2014-10-24 12:10:38 +11:00
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
2014-10-24 12:10:37 +11:00
5c9e5fbc11
AP_InertialSensor: removed use of hrt_absolute_time()
2014-08-20 09:10:24 +10:00
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
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
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
b7565affcd
INS: add support for 400hz for PX4
2014-02-15 05:27:33 +11:00
6d39cf5e49
AP_InertialSensor: another attempt at fixing the spurious bad gyro health warnings
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cope with _get_sample() not being called for a while
2013-12-14 15:47:49 +11:00
99e2dc87c9
AP_InertialSensor: prevent INS healthy errors while initialising
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during gyro cal we shouldn't mark the gyro unhealthy
2013-12-13 20:47:24 +11:00
433ad19335
AP_InertialSensor: fixed loop limits
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stops pointless operations
2013-12-11 14:57:13 +11:00
e54fc6b8e3
AP_InertialSensor: make sure we wait for a sample before update()
2013-12-11 13:50:50 +11:00
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
2013-12-09 20:02:04 +11:00
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
Andrew Tridgell
Gustavo Jose de Sousa
Randy Mackay
Peter Barker
Tom Pittenger
Jonathan Challinger
Emile Castelnuovo
LukeMike
Andrew Tridgell