6a897f01d8
AP_InertialSensor: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
1051da5cb4
AP_InertialSensor: correct compilation when AP_AHRS_ENABLED is off
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e.g. CubeOrange-periph-heavy
2024-01-16 16:14:04 +11:00
2688848cd1
AP_InertialSensor: fixed orientation of batch sampled data
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we need to rotate the data so that FFT displays match the configured
orientation
2023-10-25 19:23:11 +11:00
3429276224
AP_InertialSensor: add INS_RAW_LOG_OPT to allow raw logging of post, and pre+post on primary or all gyros
2023-10-03 10:24:58 +11:00
c9382cd221
AP_InertialSensor: HAL_WITH_DSP -> HAL_GYROFFT_ENABLED
2023-03-29 20:49:40 +11:00
10439cc42e
AP_InertialSensor: add support for extra Aux IMUs
2023-03-21 10:04:16 +11:00
34a52142c8
AP_InertialSensor: added support using the 2nd IMU for heater control
2023-03-15 19:08:53 +11:00
e5c3dd871c
AP_InertialSensor: create explicit define for AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
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this allows the batch sampler to be removed for size reasons, or because you don't have logging enabled
2023-01-11 19:08:41 +11:00
90cdc1aa52
AP_InertialSensor: allow FFT window to be captured post-filter
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selectively apply filters twice to make sure that FFT is not tracking itself
clean-up notch disablement for non-DSP builds
use filter gyro data for FFT when analysing post-filter
always apply LPF after all of the notches
move to a phased application of window information for FFT
tap FFT gyro window at the appropriate place for downsampled FFTs
add accessor for FFT notch
document notch uses cases and flow
2022-12-28 18:14:56 +11:00
221ab9752e
AP_InertialSensor: synchronise fifo reads on the ICM42xxx
2022-08-12 20:53:36 +10:00
e4ce4ebed3
AP_InertialSensor: remove un-needed methods
2022-07-19 10:30:36 +10:00
9ac3472b47
AP_InertialSensor: add set_inactive() on notch filters
2022-06-30 20:58:37 +10:00
a37f268dc6
Ap_Inertialsensor: by default only run harmonic notch on the active gyro
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this should save quite a lot of CPU. Only the active gyro impacts
vehicle flight
2022-06-12 15:39:44 +10:00
19063a46a0
AP_InertialSensor: fixed build with logging disabled
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fixes CubeOrange-periph build
2022-06-06 14:50:40 +10:00
db14ba46dc
AP_InertialSensor: call notch param update with semaphore held
2022-04-19 09:39:03 +10:00
e2e1e74da5
AP_InertialSensor: switch to HarmonicNotch class
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this makes the logic much easier to follow, without indexes into
arrays
2022-04-19 09:39:03 +10:00
e67d9b4179
AP_InertialSensor: support two full harmonic notch filters
2022-04-19 09:39:03 +10:00
b77476caa1
AP_InertialSensor: remove custom orentations
2022-03-02 18:16:42 +11:00
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
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
6e3b502110
AP_InertialSensor: inline vector ops for backends and temp cal
2021-12-22 18:23:33 +11:00
c6734ad825
AP_InertialSensor: correct logging of inertial-sensor reg-change logging
2021-12-18 21:25:27 +11:00
4fdc1ebc30
AP_InertialSensor: fixed locking issue in delta accumulation
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this fixes a bug in calculating delta velocity and delta acceleration
between threads.
2021-08-31 10:10:18 +10:00
447935bf4c
AP_InertialSensor: remove dependence on gcs for AP_Periph builds
2021-06-30 17:06:02 +10:00
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
3ff71c7814
AP_InertialSensor: changes from review feedback
2021-01-21 13:09:21 +11:00
8caea96ab1
AP_InertialSensor: start auto-learning at boot
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This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
2021-01-21 13:09:21 +11:00
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
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this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
2021-01-21 13:09:21 +11:00
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
2437cf8a24
AP_Logger: use instance number for IMU logging
2020-11-11 19:31:53 +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
5c6749ee54
AP_InertialSensor: use wait_pin() to wait for DRDY pin if available
2020-04-23 07:28:13 +10:00
0e9b2a26c5
AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate
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use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
2020-02-22 11:15:37 +11:00
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
143a071788
AP_InertialSensor: add rpm-based motor noise to gyros and accels
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Remove sample time error in backend.
2019-12-17 10:07:06 +11:00
236ce28339
AP_InertialSensor: updated for heater changes
2019-11-02 16:31:04 +11:00
8e385d7453
AP_InertialSensor: correct formatting
2019-09-11 18:41:05 +10:00
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
09d3392aee
AP_InertialSensor: zero accumulators on time step
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this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
2019-07-07 19:03:01 +10:00
3444e82ef9
AP_InertialSensor: added RC switch for killing IMUs
2019-07-07 19:03:01 +10:00
fff81a2163
AP_InertialSensor: Make sure the LPF output is used by the notch input.
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
ef860db558
AP_InertialSensor: add floating point constant designators
2019-04-05 23:04:17 -07:00
3eeaa2c8df
AP_InertialSensor: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Peter Barker
Andrew Tridgell
Iampete1
Andy Piper
bugobliterator
Josh Henderson
Tom Pittenger