Commit Graph

151 Commits

Author SHA1 Message Date
Andrew Tridgell cb858d2c99 AP_InertialSensor: fixed typo 2016-07-01 15:35:22 +10:00
Andrew Tridgell be41d402b5 AP_InertialSensor: added set of delta angle time for replay 2016-04-26 15:50:46 +10:00
Jonathan Challinger c454631be8 AP_InertialSensor: work around gyro and accel errors on startup 2016-02-19 16:40:52 +09:00
Lucas De Marchi 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
Lucas De Marchi 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
Andrew Tridgell ee453783eb AP_InertialSensor: added get_delta_angle_dt() API 2016-01-19 09:50:21 +11:00
Andrew Tridgell b2745bb545 AP_InertialSensor: we only need peak hold for negative X for now 2016-01-02 09:58:32 +11:00
Tom Pittenger 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
Jonathan Challinger 137ace473d AP_InertialSensor: add accel_cal_requires_reboot 2015-12-29 10:46:35 -08:00
Jonathan Challinger 492223cb84 AP_InertialSensor: support AP_AccelCal 2015-12-29 10:46:34 -08:00
Andrew Tridgell 17fc58f3cd AP_InertialSensor: re-work for more flexible main loop rates 2015-12-27 14:57:12 +09:00
Andrew Tridgell 93ef881109 AP_InertialSensor: added get_loop_delta_t() API 2015-12-27 14:57:10 +09:00
Andrew Tridgell 6639c23685 AP_InertialSensor: added QURT driver 2015-12-27 16:21:26 +11:00
Andrew Tridgell 28230556bb AP_InertialSensor: added qflight driver 2015-12-27 16:12:27 +11:00
Andrew Tridgell 4a768d47f3 AP_InertialSensor: created a SITL specific backend 2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends
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
José Roberto de Souza d1ff4286c2 AP_InertialSensor: Make detect_backends() public
This method will be used to initialize and configure I2C backends that
have an auxiliary I2C bus that can be connected to the main I2C bus,
like MPU6000 and MPU9250.
2015-11-11 14:29:07 +11:00
José Roberto de Souza 588df53429 AP_InertialSensor: Add support to get auxiliary bus of multiple instances of the same sensor 2015-11-11 14:29:06 +11:00
Lucas De Marchi 3142f21363 AP_InertialSensor: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Gustavo Jose de Sousa 25a499a41f AP_InertialSensor: use raw sample rate terminology
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
Gustavo Jose de Sousa 7fef515555 AP_InertialSensor: unify delta angle calculation
This commit basically moves delta angle calculation that was previously done in
AP_InertialSensor_PX4 to a common place. Instances must publish their gyro raw
sample rate to enable delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 9e05041234 AP_InertialSensor: allow publishing gyro raw sample rate to frontend
That information will be used for a unified delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 75fdac648f AP_InertialSensor: unify delta velocity calculation
This commit basically moves delta velocity calculation that was previously done
in AP_InertialSensor_PX4 to a common place. Instances must publish their accel
raw sample rate to enable delta velocity calculation.
2015-10-22 16:53:10 +11:00
Lucas De Marchi 30a50b362f AP_InertialSensor: remove check for vibe check
For all supported boards we have vibration check.
2015-10-21 10:05:17 +11:00
Lucas De Marchi a147b97d2b AP_InertialSensor: remove check for HAL_CPU_CLASS
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
INS_MAX_INSTANCES, INS_MAX_BACKENDS and INS_VIBRATION_CHECK constant for
all supported boards.
2015-10-21 10:05:17 +11:00
Randy Mackay b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
José Roberto de Souza 30610fb17d AP_InertialSensor: Remove misspelled and unused method 2015-10-16 10:16:24 +11:00
José Roberto de Souza daa32725ac AP_InertialSensor: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Randy Mackay ec82aa68c4 InertialSensor: add GYR_CAL to control when gyro calibration occurs 2015-09-21 17:06:16 +09:00
Gustavo Jose de Sousa 5329e63742 AP_InertialSensor: allow publishing sample rate to frontend
That information will be used for a "centralized" vibration calculation.
2015-09-07 11:14:42 +10:00
Lucas De Marchi c66800dfec AP_InertialSensor: add singleton interface
In order to allow other libraries to use the InertialSensor we need a
way to let them to get the only instance of InertialSensor. The
conventional way to do a singleton would be to let the constructor
private and force it to be instantiated from the get_instance() method.

Here however we just call panic() on the constructor if there's already
an instance alive. This allows us to let the vehicles as is. Later we
can change it so they call the get_instance() method instead.
2015-08-28 12:39:08 +10:00
Lucas De Marchi caae933c28 AP_InertialSensor: Add support for auxiliary buses
Add an AuxiliaryBus class that can be derived for specific
implementations in inertial sensor backends. It's an abstract
implementation so other libraries can use the auxiliary bus exported. In
order for this to succeed the backend implementation must split the
initialization of the sensor from the actual sample collecting, like is
done in MPU6000.

When AP_InertialSensor::get_auxiliary_bus() is called it will execute
following steps:
	a) Force the backends to be detected if it's the first time it's
	   being called
	b) Find the backend identified by the id
	c) call get_auxiliary_bus() on the backend so other libraries can
	   that AuxiliaryBus to initialize a slave device

Slave devices can be used by calling AuxiliaryBus::request_next_slave()
and are owned by the caller until AuxiliaryBus::register_periodic_read()
is called. From that time on the AuxiliaryBus object takes its ownership.
This way it's possible to do the necessary cleanup later without
introducing refcounts, that we don't have support to.

Between these 2 functions the caller can configure the slave device by
doing its specific initializations by calling the passthrough_*
functions. After the initial configuration and register_periodic_read()
is called only read() can be called.
2015-08-28 12:39:08 +10:00
Lucas De Marchi 7d9579c5d8 AP_InertialSensor: identify backend with ID
Identify backend with an id, allowing other libraries to connect to
them. This is different from the _product_id member because it
identifies the sensor, not the board the sensor is in, which is
meaningless for our use case.
2015-08-28 12:39:07 +10:00
Lucas De Marchi 22c787058e AP_InertialSensor: allow to split detection and initialization
This allows backends to have a separate detection and initialization
logic. It doesn't change any backend yet and with the current code
there's no change in behavior either. This only allows
AP_InertialSensor::_detect_backend() to be called earlier so
AP_InertialSensor object can be used by other libraries. If it's not
called, later on AP_InertialSensor::init() will detect and start all
backends.
2015-08-28 12:39:07 +10:00
Tom Pittenger 2620a57700 AP_InertialSensor: Added is_still() check
very strict check that all axis are not vibrating much at all
new param: INS_STILL_THRESH used to be a vibration threshold for different platforms
// @Description: Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
2015-08-23 10:34:17 +10:00
Randy Mackay e5615ec349 INS: add USE parameters 2015-08-19 16:44:15 +09:00
Randy Mackay affbd67c43 InertialSensor: add vibration monitoring of 2nd IMU 2015-08-19 16:44:12 +09:00
Andrew Tridgell 980659d346 AP_InertialSensor: removed AVR1280 specific ifdef 2015-08-11 16:47:56 +10:00
Gustavo Jose de Sousa 7789aec85b AP_InertialSensor: standardize inclusion of libaries headers
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
Lucas De Marchi 4d4dac867e AP_InertialSensor: pass backend instead of pointer to function
Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
2015-08-08 14:12:22 +10:00
Andrew Tridgell ac3200fd32 AP_InertialSensor: make max_abs_offsets a single float, not a vector 2015-06-30 10:51:43 +10:00
Gustavo Jose de Sousa 42eb73a1d1 AP_InertialSensor: add LSM9DS0 backend
This adds the backend driver for LSM9DS0. This implementation is based on the
legacy driver coded by Víctor Mayoral Vilches (under folder LSM9DS0) and makes
some necessary adaptations and fixes in order to work properly. The legacy
driver folder was removed.
2015-06-30 10:27:46 +10:00
Gustavo Jose de Sousa c340e072f2 AP_InertialSensor: use accel instance max abs offset instead of a constant value
The calibration on LSM9DS0 was giving offsets between 4.0 and 4.2 on x-axis and
around 3.6 on y-axis. It turned out that those offsets were actually right.

The maximum absolute values of calibration offset should be a sensor
characteristic rather than a constant value for all sensors.

The constant value previously used (3.5 m/s/s for all axes) is set here as a
default maximum absolute calibration offset for every instance to keep it
working.
2015-06-30 10:27:44 +10:00
Andrew Tridgell bc0ae630a1 AP_InertialSensor: always provide delta_velocity and delta_angles
this makes the NavEKF code simpler
2015-06-17 13:10:26 +10:00
Randy Mackay 9d81856580 InertialSensor: fix name of get_delta_velocity method 2015-06-17 12:46:54 +10:00
Andrew Tridgell 727be87d84 AP_InertialSensor: support HIL functions for delta_velocity and delta_angles 2015-06-16 09:53:55 +10:00
Randy Mackay 8ceccd778d InertialSensor: disable vibration checks on APM2
Also bug fix get_accel_clip_count's instance check
2015-06-12 21:36:56 +09:00
Randy Mackay 0db7acc628 InertialSensor: calc vibration and accel clipping 2015-06-12 21:36:22 +09:00
Andrew Tridgell 9e723ef907 AP_InertialSensor: added calibrate_trim() function
used for redoing trim calculation
2015-05-16 07:56:34 +10:00
Andrew Tridgell b564ba0868 AP_InertialSensor: fixed AHRS_TRIM calculation again 2015-05-16 07:56:33 +10:00