b3ed4f4b12
AP_InertialSensor: fixed handling of more than 3 accel/gyro instances
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allows for first 3 to work without a panic
2021-04-13 09:36:52 +10:00
02daa4c3ec
AP_InertialSensor: update L3G4200D driver
2020-10-06 09:27:26 -07:00
b89c241329
AP_InertialSensor: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER
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this makes for cleaner and smaller code as the failure case is not
needed
2020-01-19 20:19:30 +11:00
5472bc4de1
Global: change Device::PeriodicCb signature
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Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
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handle missing devices
2016-11-09 17:08:10 +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
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
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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
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
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use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
152edf7189
Global: remove mode line from headers
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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
58f4624f8c
AP_InertialSensor: L3G4200D: use AP_HAL::I2CDevice abstraction
2016-02-16 19:49:09 -02:00
22f2a2ee09
AP_InertialSensor: L3G4200D: fix coding style
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- 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
d7601095fa
AP_InertialSensor: use millis/micros/panic functions
2015-11-20 12:31:41 +09:00
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
2c38e31c93
Remove use of PSTR
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The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
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
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
2ea8f1de3f
AP_InertialSensor: L3G4200D: apply correction on each new sample
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These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:41 +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
d3eebdb6aa
AP_InertialSensor: L3G4200D: add probe code
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This driver works properly but had the initialization logic missing. Add
the support to probe it.
2015-08-08 14:12:22 +10:00
3aa46e3213
AP_InertialSensor: use functor macros
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Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:53 +10:00
b292873304
AP_InertialSensor: fix starvation in L3G4200D
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The main thread would always be blocked on the semaphore to read the
data from accelerometer and gyroscope. Especially if we have a slow
update of these values in _accumulate() due to the I2C transfer function
taking too much time: the timer thread would never give up the CPU,
causing starvation on the main thread.
This fixes the issue by reducing the critical region using a flip-buffer
so _accumulate() can work on its own copy of the data. Now that the
critical region is smaller, also avoid the semaphore and use a spinlock
instead.
2015-04-14 10:01:47 +10:00
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
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
2015-03-12 12:50:27 +11:00
502446d821
AP_InertialSensor: use LowPassFilter2pVector3f
2015-03-12 12:50:27 +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
2d47a07480
AP_InertialSensor: ported L3G4200D driver to new API
2014-10-24 12:10:37 +11:00
abb53eb9a2
AP_InertialSensor: simplify using HAL board subtypes
2014-07-14 09:44:35 +10:00
df14318bbd
AP_InertialSensor_L3G4200D: Clock-based wait_for_sample() impl.
2014-07-14 09:29:08 +10:00
ab7e96b9de
AP_InertialSensor: updates for ERLE board type
2014-07-14 08:51:44 +10:00
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
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
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
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
5d685385eb
AP_InertialSensor: use gyro sample count on L3G4200D
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this gives more even timing in ArduCopter
2013-10-08 19:20:34 +11:00
6444b0bddd
AP_InertialSensor_L3G4200D: a sample is only available if gyro had a sample
2013-10-08 19:20:34 +11:00
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
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
mhefny
Lucas De Marchi
Mathieu OTHACEHE
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Jonathan Challinger
Andrew Tridgell
Víctor Mayoral Vilches