ac3a677626
AP_InertialSensor: remove param rotate_and_correct from publish functions
...
Once that parameter is always false.
2015-09-07 11:14:42 +10:00
a56c8deaee
AP_InertialSensor: Oilpan: apply correction on each new sample
...
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 11:14:42 +10:00
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
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
2015-03-12 12:50:27 +11:00
a047d1f569
AP_InertialSensor: moved default filter and sample_rate to frontend
...
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
...
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
...
fill in parameter from first backend
2014-10-24 12:10:39 +11:00
85686c22ec
AP_InertialSensor: converted the APM1/Oilpan 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
ab7e96b9de
AP_InertialSensor: updates for ERLE board type
2014-07-14 08:51:44 +10:00
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
...
allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
e54fc6b8e3
AP_InertialSensor: make sure we wait for a sample before update()
2013-12-11 13:50:50 +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
...
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
...
used to detect bad accels
2013-11-07 13:53:59 +11:00
f4dde44b8d
AP_InertialSensor: SITL doesn't use Oilpan code any more
2013-11-02 21:41:11 +11:00
e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
...
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
1191607036
AP_InertialSensor: enable Oilpan on Linux
2013-09-29 00:57:13 +10:00
14636e1cdf
AP_InertialSensor: changed num_samples_available() to sample_available()
...
this makes the interface clearer. It also fixes a 3D accel cal bug.
2013-09-27 10:49:00 +10:00
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
2013-04-12 14:30:35 +10:00
af13f6795c
INS: switch to global definition of GRAVITY_MSS
...
saves 4 bytes of RAM
2013-04-05 22:57:46 +09:00
5643c371b9
AP_InertialSensor: removed unused new_data_available() and temperature() APIs
2013-02-07 10:23:37 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
d7996acdf7
AP_InertialSensor: added set_board_orientation() method
2013-01-13 17:32:48 +11:00
6142eac4b4
AP_InertialSensor: simplify get_delta_time() API
...
use a single float return rather than two APIs.
This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
2013-01-11 21:17:21 +11:00
dbad61816b
AP_InertialSensor: only build Oilpan driver on APM1
2013-01-10 21:01:55 +11:00
3f6f0b6d79
Oilpan: removed reference to DESKTOP_BUILD
2013-01-02 15:39:41 +11:00
3c0440b0b4
Math: use common degrees() and radians() functions
2012-12-20 14:53:22 +11:00
4acf2c8591
AP_InertialSensor: ported to AP_HAL
2012-12-20 14:51:26 +11:00
3b18c57691
AP_InertialSensor: removed axis getters for accel/gyro
...
these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
4f868e04cc
AP_InertialSensor: return the example sample count in Oilpan
2012-11-30 07:15:19 +11:00
089ae0f9f3
AP_InertialSensor: allow specification of sample rate in init() call
...
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen.
This also changes the MPU6k filtering to be less than half the sample
rate
2012-11-30 07:15:18 +11:00
152c12c283
INS: fixed raw accel offset for APM1
...
we now get reasonable offset values
2012-11-20 18:32:27 +11:00
3776e6108f
INS: use vector subtraction to make code clearer
2012-11-20 18:32:27 +11:00
d9b4407e64
AP_InertialSensor: changes after review with Tridge.
...
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +09:00
49de46a548
AP_InertialSensor: merge in calibration features from IMU library
...
add gauss-newton method of accelerometer calibration
2012-11-07 19:20:27 +09:00
0a6219695b
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
...
This reduces the delay between when data arrives and when it is used
by up to 1ms.
Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
2012-09-10 11:37:33 +09:00
77729b847f
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
2012-08-21 19:03:14 -07:00
518d6365ff
AP_Param: update remaining libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
48074f4766
AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning
2012-07-28 15:22:37 +09:00
c9d3ab5413
Oilpan ADC parameters added
...
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
4a1d8b0875
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
9296ac494d
AP_InertialSensor: added a get_gyro_drift_rate() interface
...
this returns the expected max drift rate for the particular type of
gyro being used
2012-03-10 10:34:33 +11:00
3e960f8ef9
InertionSensor: update for new Ch6() interface
2012-03-10 10:34:32 +11:00
a9dea35310
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
97f8d21c1b
added code format markers to AP_InertialSensor library
2011-12-21 23:31:38 +11:00
d442bad413
Revert "ADC: added an enable_channel() API"
...
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
9591317dbc
ADC: added an enable_channel() API
...
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
2011-12-16 20:09:40 +11:00
82b48784ef
purple: added AP_InertialSensor library
...
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
2011-11-25 20:00:16 -08:00
Gustavo Jose de Sousa
Jonathan Challinger
Andrew Tridgell
Randy Mackay
James Bielman
Pat Hickey
uncrustify
Jason Short
Craig Elder