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
Andrew Tridgell
f831c16238
AP_InertialSensor: use fixed sensor sample times
...
this uses fixed sample times for PX4 IMUs, rather than reported
timestamps. It avoids timing jitter caused by the over-sampling in
the PX4 drivers
2015-06-17 13:03:56 +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
214b61bfc0
AP_InertialSensor: fixed example build
2015-06-01 17:35:15 +10:00
Andrew Tridgell
7f7113c1de
AP_InertialSensor: convert example from .pde to .cpp
2015-06-01 17:07:04 +10:00
Andrew Tridgell
6a2c585632
AP_InertialSensor: fixed build warnings
2015-05-30 22:51:19 +10:00
Peter Barker
8be9e99fad
AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages
2015-05-27 11:54:17 +10:00
Peter Barker
f489f6b696
AP_InertialSensor: use 64-bit timestamps in dataflash logs
2015-05-27 11:54:17 +10:00
Lucas De Marchi
3aa46e3213
AP_InertialSensor: use functor macros
...
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
Andrew Tridgell
aaa35bd1ec
AP_InertialSensor: using atan2f() gives more accurate euler corrections
...
thanks to Jon and Paul!
2015-05-16 08:19:18 +10:00
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
Jonathan Challinger
159599879f
AP_InertialSensor: simplify and correct AHRS_TRIM computation
2015-05-15 21:03:03 +10:00
Randy Mackay
3f8b832075
InertialSensor: fix example sketch
2015-05-13 10:13:51 +09:00
Randy Mackay
1f14eec4ea
InertialSensor: accel_calibrated_all_ok replaces calibrated
...
This checks that the current number of accelerometers matches the number
of calibrated accels in order to catch accel failures at boot
2015-05-12 16:32:16 +09:00
Andrew Tridgell
8bf2baef70
AP_InertialSensor: fixed primary accel/gyro in replay
2015-05-11 11:19:11 +10:00
Andrew Tridgell
afc9812d0b
AP_InertialSensor: update VibTest after moving messages info DataFlash
2015-05-07 13:25:37 +10:00
Andrew Tridgell
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
2015-05-07 12:08:30 +10:00
Andrew Tridgell
f5140e25b0
AP_InertialSensor: updated VibTest for latest PX4 interfaces
2015-05-07 10:51:52 +10:00
Andrew Tridgell
089e63f987
AP_InertialSensor: fixed PSTR handling
...
must use PSTR on code compiled for AVR
2015-05-05 13:54:00 +10:00
Andrew Tridgell
31693e332e
AP_InertialSensor: use non-PSTR printf
...
this is not built on AVR
2015-05-05 13:48:34 +10:00
Andrew Tridgell
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Tom Pittenger
0e076d6dc8
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:02 +10:00
Tom Pittenger
9e98c68099
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:01 +10:00
Tom Pittenger
820199635b
AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
3cb2221315
AP_IntertialSensor: double to float warning
2015-05-05 13:26:50 +10:00
Andrew Tridgell
ef527d9daa
AP_InertialSensor: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Randy Mackay
6773c0b232
AP_InertialSensor: default primary accel and gyro
2015-05-01 16:37:33 +09:00
Jonathan Challinger
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
2015-05-01 16:37:15 +09:00
Jonathan Challinger
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
2015-05-01 16:37:14 +09:00
Andrew Tridgell
007b01533d
AP_InertialSensor: switched to 16g accel range for MPU9250
...
this matches the Pixhawk, and makes us less prone to vibration. We
have seen clipping at 8g
2015-04-28 15:30:29 +10:00
Tom Pittenger
a4b8575432
InertialSensor: fix compile warnings re float constants
2015-04-24 14:03:49 +09:00
mirkix
13ee34c58a
AP_InertialSensor: MPU9150 fix compiler warnings
2015-04-14 11:14:48 +10:00
Lucas De Marchi
b292873304
AP_InertialSensor: fix starvation in L3G4200D
...
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
Andrew Tridgell
45e016ea5b
AP_InertialSensor: check for zero delta_velocity dt
2015-04-03 15:10:47 -07:00
Jonathan Challinger
b306d7a356
AP_InertialSensor: accel cal sample for 400ms instead of 1s
2015-04-03 14:54:19 -07:00
Jonathan Challinger
1e1d8efa22
AP_InertialSensor: use expected update rate for accel cal sampling
2015-04-03 14:54:17 -07:00
Jonathan Challinger
bd84328440
AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample
2015-04-03 14:54:15 -07:00
Jonathan Challinger
b2b42e081a
AP_InertialSensor: use delta_velocity/dt for calibration if available
2015-04-03 14:54:10 -07:00
Jonathan Challinger
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
2015-04-03 14:54:06 -07:00
Andrew Tridgell
4147825b87
AP_InertialSensor: fixed gyro calibration bug
...
we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
2015-04-03 06:57:30 -07:00
Andrew Tridgell
23272e4013
AP_InertialSensor: added get_temperature() interface
...
this will allow logging of individual temperature sensors
2015-03-17 13:32:54 +11:00
ahcorde
103bb2a08d
AP_InertialSensor: Fix orientation MPU6000 PXF
2015-03-16 09:50:51 +11:00
Andrew Tridgell
cf2445dc97
AP_InertialSensor: prevent nested accelerometer calibration
2015-03-15 15:22:59 +11:00
Andrew Tridgell
8a99cab535
AP_InertialSensor: load only HIL backend for hil_mode
2015-03-13 22:52:55 +11:00
Andrew Tridgell
520c7c1306
AP_InertialSensor: always allow for AK8963 on MPU9250
2015-03-13 18:46:17 +11:00
Andrew Tridgell
60b8736cf1
AP_InertialSensor: use right AK8963 compass defines
2015-03-13 18:46:15 +11:00
Andrew Tridgell
808c33d0a7
AP_InertialSensor: support both MPU9250 and MPU9255
...
seems to be just different WHOAMI register
2015-03-13 13:26:49 +11:00
Andrew Tridgell
07fd31c724
AP_InertialSensor: change copter filters to 20Hz
...
with the backend filters disabled 20Hz is closer to the old default of
30Hz
2015-03-12 13:11:17 +11:00
Andrew Tridgell
a1d43e39e0
AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz()
2015-03-12 12:50:31 +11:00
Andrew Tridgell
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
...
this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
Andrew Tridgell
f3314791f2
AP_InertialSensor: removed INS_CALSENSFRAME
...
it is no longer needed as we have shifted the accel cal indexes
2015-03-12 12:50:31 +11:00
Andrew Tridgell
4bc6c8e655
AP_InertialSensor: shift to new parameter indexes for accel calibration
...
this allows for users to switch between development trees and previous
stable versions while retaining their accel calibration values.
2015-03-12 12:50:30 +11:00
Andrew Tridgell
5d0eb49114
AP_InertialSensor: calculate queue depth based on requested sample rate
...
this auto-scales the queue depth for plane, rover and copter
2015-03-12 12:50:30 +11:00
Andrew Tridgell
ea49d1cd39
AP_InertialSensor: removed unused variable
2015-03-12 12:50:30 +11:00
Andrew Tridgell
e6a4b9f68c
AP_InertialSensor: check accel health during accel cal
2015-03-12 12:50:29 +11:00
Andrew Tridgell
875339f12a
AP_InertialSensor: try to avoid a compiler fault in travis
2015-03-12 12:50:29 +11:00
Andrew Tridgell
786172aa4e
AP_InertialSensor: removed 1D accel calibration
...
it is finally time to move on from this. We want to push people
towards better calibration and removing the 1D accel cal is the first
step
2015-03-12 12:50:28 +11:00
Andrew Tridgell
a975520033
AP_InertialSensor: check range of accels in 3D calibration
...
during 3D accel cal it is possible to get data which passes the sphere
fit but which has very poor coverage and does not provide sufficient
data for a good result. This checks that each axis covers a range of
at least 12 m/s/s in body frame
2015-03-12 12:50:28 +11:00
Andrew Tridgell
a8a8628515
AP_InertialSensor: added INS_CALSENSFRAME parameter
...
this allows us to detect if accel calibration was done in sensor frame
or not. If it was done in sensor frame then the accel calibration is
independent of AHRS_ORIENTATION, which makes it easier to move a board
to a new airframe without having to recalibrate.
2015-03-12 12:50:28 +11:00
Jonathan Challinger
bc655ff0cc
AP_InertialSensor_PX4: add optional debug
2015-03-12 12:50:28 +11:00
Jonathan Challinger
074ee49cd0
AP_InertialSensor_PX4: interleave accel and gyro samples by time
2015-03-12 12:50:28 +11:00
Jonathan Challinger
addf80b669
AP_InertialSensor_PX4: explicitly configure sensors, publish deltas
2015-03-12 12:50:27 +11:00
Jonathan Challinger
b5131b7b64
AP_InertialSensor: add coning.py example
2015-03-12 12:50:27 +11:00
Jonathan Challinger
2a547f329b
AP_InertialSensor: allow backends to publish delta velocities and angles
2015-03-12 12:50:27 +11:00
Jonathan Challinger
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
2015-03-12 12:50:27 +11:00
Jonathan Challinger
502446d821
AP_InertialSensor: use LowPassFilter2pVector3f
2015-03-12 12:50:27 +11:00
Randy Mackay
5f26a36060
INS: protect against two calibrations running at the same time
2015-03-09 17:58:38 +11:00
Randy Mackay
f9c6e35d19
INS: add calibrating method
2015-03-09 17:58:38 +11:00
Randy Mackay
b0e7990c90
INS: set gyro_cal_ok only after completing calibration
2015-03-09 17:58:37 +11:00
Andrew Tridgell
aec7907571
AP_InertialSensor: updated comment on accel check in gyro cal
2015-03-09 17:58:36 +11:00
Andrew Tridgell
494e909703
AP_InertialSensor: ensure accel cal completion messages get through
2015-03-09 07:36:50 +11:00
Andrew Tridgell
38bde56523
AP_InertialSensor: continue finding best gyro after convergence
...
with multiple gyros if we are still calibrating one of the gyros then
keep looking for better values for the already converged gyros.
2015-03-08 07:49:38 +11:00
Andrew Tridgell
20a4c98bac
AP_InertialSensor: use accelerometers to prevent bad gyro cal
...
if the board is rotating at a steady rate we can end up with a bad
gyro calibration. This can happen on a steadily moving platform such
as a ship.
This uses the accelerometers to detect the steady movement and not
accept the gyro calibration
2015-03-08 07:48:16 +11:00
Andrew Tridgell
434d094993
AP_InertialSensor: allow MAVLink packets to flow during accelcal
...
this uses the snoop functionality of GCS_MAVLink to allow the delay
callback to be used during accel calibration
2015-03-07 21:56:39 +11:00
Randy Mackay
b650d39786
InertialSensor: remove product_id set to zero
2015-02-21 09:14:33 +09:00
Andrew Tridgell
9b2d44d6ed
AP_InertialSensor: use delay_microseconds_boost()
...
this gives much more consistent timing for PX4
2015-02-16 12:19:13 +11:00
Andrew Tridgell
f54d799bff
AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues
2015-02-16 10:12:10 +11:00
Andrew Tridgell
04bef5ccf3
AP_InertialSensor: don't skip delay if we are a bit early
...
this produces a bit more even timing
2015-02-14 12:25:44 +11:00
Andrew Tridgell
4537acb898
AP_InertialSensor: change for new PX4 device paths
2015-02-14 12:25:43 +11:00
mirkix
460b434708
AP_InertialSensor: add apm1 oilpan support
2015-02-11 18:22:44 +11:00
Grant Morphett
b511410b48
AP_InertialSensor: Changes to fix the warnings in rover sitl build.
...
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
2015-02-11 18:16:45 +11:00
Emile Castelnuovo
dae32984f1
AP_InertialSensor: use PX4 library for VRBRAIN boards.
2015-02-02 08:43:59 +11:00
Emile Castelnuovo
731329fc55
AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN
2015-02-02 08:43:58 +11:00
LukeMike
6a93148b92
AP_InertialSensor: added library for VRBRAIN Inertial Sensor
2015-02-02 08:43:58 +11:00
Andrew Tridgell
6e62e1ca7b
AP_InertialSensor: make calibrated() const
2015-02-01 14:13:54 +11:00
Randy Mackay
b43dc3bdfb
INS: fix example sketch
2015-01-28 17:15:42 +09:00
Andrew Tridgell
8b59c72eb9
AP_InertialSensor: cope with 2 IMUs in SITL
2015-01-20 19:47:45 +11:00
Andrew Tridgell
b3ce56d34d
AP_InertialSensor: fixed 2nd IMU in Replay
...
this makes for much more accurate replay runs
2015-01-20 09:20:47 +11:00
mirkix
fa950a735e
AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black
2015-01-12 21:36:40 +13:00
Andrew Tridgell
1b3c3c754d
AP_InertialSensor: use correct ifdef for AK8963
2015-01-07 11:58:05 +11:00
Staroselskii Georgii
f7f9cd2173
AP_InertialSensor: prevented MPU9250 from disabling I2C slaves
2015-01-07 08:41:13 +11:00
Andrew Tridgell
745b739ab7
AP_InertialSensor: make calibrated() function fast enough to call in flight
...
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.
Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
2015-01-03 14:06:42 +11:00
Andrew Tridgell
06a72839ed
AP_InertialSensor: fixed error detection on secondary IMUs
...
the break; was preventing error detection on lsm303d/l3gd20
2015-01-01 08:55:57 +11:00
Andrew Tridgell
b9adc6e466
AP_InertialSensor: prefer sensors that have zero error counts
...
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
2014-12-29 21:19:35 +11:00
Andrew Tridgell
7bb56e50aa
AP_InertialSensor: fixed example build
2014-11-28 10:40:19 +11:00
Andrew Tridgell
f84f432ecf
AP_InertialSensor: allow gyro calibration to take up to 30 seconds
...
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
2014-11-22 18:27:51 +11:00