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686 Commits

Author SHA1 Message Date
Andrew Tridgell 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
Gustavo Jose de Sousa 68fe536da3 AP_InertialSensor: use BMI160 for Intel Aero 2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa 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
mirkix a4d0ad8571 AP_InertialSensor: Fix name of sensor 2016-08-23 11:25:59 +09:00
Murilo Belluzzo 36bdd7f1f1 AP_InertialSensor: MPU6000: Add missing read() check 2016-08-03 00:18:20 -03:00
Gustavo Jose de Sousa cd0d65dc3f AP_InertialSensor: don't check {gyro,accel}_available twice 
That gives a slightly simpler code.
 2016-07-22 19:58:08 -03:00
Gustavo Jose de Sousa 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
José Roberto de Souza dd36952efe AP_InertialSensor: BMI160: Register poll function with the timer lock 2016-07-21 15:42:32 -03:00
Andrew Tridgell d30e55fa44 AP_InertialSensor: initial support for Disco 
setup right orientation
 2016-07-20 13:38:17 +10:00
Lucas De Marchi 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
Gustavo Jose de Sousa 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
Andrew Tridgell eee9fc88a1 AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell 33ce1213a2 AP_InertialSensor: call gyro_sample and accel_sample AP_Module hooks 2016-07-14 13:39:47 +10:00
Andrew Tridgell cb858d2c99 AP_InertialSensor: fixed typo 2016-07-01 15:35:22 +10:00
Andrew Tridgell 834acaffee AP_InertialSensor: provide IMU temperature to HAL for all boards 2016-07-01 15:29:52 +10:00
Lucas De Marchi 1f96336f7c Global: rename bus type enum entries 2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa f6bebc96c0 AP_InertialSensor: INS_generic: remove unused includes 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa de94392759 AP_InertialSensor: MPU9250: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa a6e5eb9e14 AP_InertialSensor: MPU6000: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa 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
Grant Morphett 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
Lucas De Marchi b067bce140 AP_InertialSensor: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi 7503c1b6d4 AP_InertialSensor: update doc about used ids 2016-05-23 21:49:45 -03:00
Ricardo de Almeida Gonzaga d5a2c57c5e AP_InertialSensor: Fix typos 2016-05-13 19:20:05 -03:00
dgrat 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
Andrew Tridgell be41d402b5 AP_InertialSensor: added set of delta angle time for replay 2016-04-26 15:50:46 +10:00
Andrew Tridgell 4401cbec72 AP_InertialSensor: cope with zero delta angle time from Replay 2016-04-26 15:37:11 +10:00
mirkix c3a6a56ebb AP_InertialSensor: Add second MPU9250 autodetection to BBBmini 2016-04-24 10:57:57 -03:00
Lucas De Marchi 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
AndersonRayner 10e7d43007 AP_InertialSensor: Add output of all IMUs to example 2016-03-31 14:54:17 -03:00
ashwinvasudevan e33812e1cb AP_InertialSensor: added missing brackets 2016-03-23 17:46:41 +09:00
raspilot 1d1d224c18 AP_InertialSensor: Enable dual IMU for raspilot 2016-03-18 21:51:37 -03:00
Lucas De Marchi f75c12f57c AP_InertialSensor: LSM9DS0: change mode of drdy pins to input 2016-03-18 21:51:37 -03:00
raspilot c83e4df002 AP_InertialSensor: LSM9DS0: Disable I2C at init to avoid SDA hanging by slave. 2016-03-18 21:51:37 -03:00
raspilot 557beb4bb1 AP_InertialSensor: LSM9DS0: Fixed wrong call to _register_read_xm() 2016-03-18 21:51:37 -03:00
Lucas De Marchi 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
Gustavo Jose de Sousa 4613b68efb AP_InertialSensor: waf: skip VibTest example 
The code is currently broken.
 2016-03-14 11:54:31 -03:00
Staroselskii Georgii da550e5e98 AP_Inertial_Sensor: do not rotate MPU9250 on Navio2 2016-02-27 03:06:50 -03:00
AndersonRayner 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
Jonathan Challinger c454631be8 AP_InertialSensor: work around gyro and accel errors on startup 2016-02-19 16:40:52 +09:00
Lucas De Marchi 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
Lucas De Marchi d2b267d026 AP_InertialSensor: LSM9DS0: use AP_HAL::SPIDevice abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi 58f4624f8c AP_InertialSensor: L3G4200D: use AP_HAL::I2CDevice abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi af846636e4 AP_InertialSensor: MPU60x0: use AP_HAL::Device abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi c1d19fa4dc AP_InertialSensor: LSM9DS0: sanitize whitespaces 2016-02-01 14:18:51 -02:00