Andrew Tridgell
7c288e020b
AP_InertialSensor: fixed detection of dead IMU
...
if a PX4 sensor does not give new data we need to avoid calling
_rotate_and_offset_*() to avoid marking it as healthy. Otherwise if
the MPU6k dies we won't switch to the LSM303D automatically
2014-11-16 12:30:33 +11:00
Andrew Tridgell
986b7bf894
AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers
2014-11-11 17:06:22 +11:00
Andrew Tridgell
3518cf5480
AP_InertialSensor: fixed default MPU9250 orientation for NavIO
2014-11-04 16:18:35 +11:00
Andrew Tridgell
ad7c612334
AP_InertialSensor: fixed SITL with new HIL code
2014-10-24 15:05:44 +11:00
Andrew Tridgell
aeaa3c1e04
AP_InertialSensor: fixed build for VRBrain
2014-10-24 12:10:41 +11:00
Andrew Tridgell
40e83ceb1f
AP_InertialSensor: simplify next sample time calculations
...
this makes the calculation much clearer
2014-10-24 12:10:40 +11:00
Andrew Tridgell
9dfbdb1e69
AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs
...
use a software filter and 1kHz sampling for better filtering if we
have a fast enough CPU to do it
2014-10-24 12:10:40 +11:00
Andrew Tridgell
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
Andrew Tridgell
17b2214798
AP_InertialSensor: make it easier to add multiple backends
...
use _add_backend() to add new backends on startup
2014-10-24 12:10:40 +11:00
Andrew Tridgell
bc5d79118d
AP_InertialSensor: updated comments
2014-10-24 12:10:39 +11:00
Andrew Tridgell
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
Andrew Tridgell
586fa9a816
AP_InertialSensor: added product_id support
...
fill in parameter from first backend
2014-10-24 12:10:39 +11:00
Andrew Tridgell
520727e5bd
AP_InertialSensor: fixed example build
2014-10-24 12:10:39 +11:00
Andrew Tridgell
dbcd02f2be
AP_InertialSensor: converted MPU9150 driver
...
untested conversion
2014-10-24 12:10:38 +11:00
Andrew Tridgell
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
2014-10-24 12:10:38 +11:00
Andrew Tridgell
a42af0f2f1
AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN
2014-10-24 12:10:38 +11:00
Andrew Tridgell
3ce7667e5a
AP_InertialSensor: tidy up MPU6000 driver
2014-10-24 12:10:37 +11:00
Andrew Tridgell
2d47a07480
AP_InertialSensor: ported L3G4200D driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
deafcd6ddc
AP_InertialSensor: improved timing in all drivers
2014-10-24 12:10:37 +11:00
Andrew Tridgell
ff6d87f145
AP_InertialSensor: minor tidy up for HIL driver
2014-10-24 12:10:37 +11:00
Andrew Tridgell
85686c22ec
AP_InertialSensor: converted the APM1/Oilpan driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
dcef9bb3b8
AP_InertialSensor: converted the MPU9250 driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
ec11417705
AP_InertialSensor: converted HIL backend, which gets SITL working
2014-10-24 12:10:36 +11:00
Andrew Tridgell
448efc70a3
AP_InertialSensor: first steps in frontend/backend split
...
This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
2014-10-24 12:10:36 +11:00
Randy Mackay
834f2bea07
INS: add gyro_calibrated_ok_all method
...
This returns true if the gyros have been calibrated successfully
2014-10-09 10:00:07 +09:00
Randy Mackay
0803d79701
INS: param descriptions for ACC2, GYR2
2014-09-27 21:05:33 +09:00
Randy Mackay
74553e523d
INS: add get_accel_health_all and get_gyro_health_all
...
Returns true only if all available accels or gyros are healthy
2014-09-03 11:22:46 +09:00
Randy Mackay
50ae5b2519
InertialSensor: reorder .cpp file to match .h
...
No functional changes
2014-09-03 11:19:36 +09:00
Andrew Tridgell
dcdb53584b
AP_InertialSensor: use lockless structures in MPU9250 driver
...
this avoids suspending timers when transferring data between main
thread and SPI read thread
2014-08-22 21:13:11 +10:00
Andrew Tridgell
5c9e5fbc11
AP_InertialSensor: removed use of hrt_absolute_time()
2014-08-20 09:10:24 +10:00
Andrew Tridgell
a14f8dbd0a
AP_InertialSensor_MPU9250: use micros64() and millis64()
2014-08-20 08:02:34 +10:00
Andrew Tridgell
3c2ab31415
AP_InertialSensor: get rid of data_ready for MPU9250
...
when running off a 1kHz timer and reading at 1kHz it is better to
double sample than it is to skip a sample, as skipping samples will
throw the filter off, whereas a double sample will have minimal effect
2014-08-19 20:03:33 +10:00
Andrew Tridgell
9e01c657e5
AP_InertialSensor: update MPU9250 driver for 1kHz operation
...
use a time base sample wait, with 1kHz sampling
2014-08-19 20:03:33 +10:00
Andrew Tridgell
532e9aace4
AP_InertialSensor: fixed timer bug in HIL sensors
2014-08-19 20:03:33 +10:00
Andrew Tridgell
12239de00d
AP_InertialSensor: fix data_ready return for L3GD20
2014-08-19 10:14:20 +10:00
Andrew Tridgell
7286e7acd2
AP_InertialSensor: fixed build errors on APM2
2014-08-19 10:08:17 +10:00
Andrew Tridgell
50068a7c6a
AP_InertialSensor: fixed default orientation for PXF board MPU9250
2014-08-19 10:08:16 +10:00
Víctor Mayoral Vilches
5e5319e23b
AP_InertialSensor: MPU9250 cleaning
2014-08-19 10:08:16 +10:00
Víctor Mayoral Vilches
df1de4efd6
AP_InertialSensor: Driver added for the LSM303D
2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches
8968647873
AP_InertialSensor: INS_generic example, add support L3GD20
2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches
0f908a8ccd
HAL_Linux: Add L3GD20 to the AP_InertialSensor header
2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches
556d46a4ef
AP_InertialSensor: L3GD20 driver added
...
L3GD20 gyro userspace sensor added. The driver constructs
over the implementation of the PX4 Dev Team at
https://github.com/diydrones/PX4Firmware .
2014-08-19 10:08:15 +10:00
Víctor Mayoral Vilches
bfacf08c30
HAL_Linux: LSM9DS0 legacy driver moved to AP_InertialSensor/LSM9DS0/
...
The new LSM9DS0 driver will consist of the AP_InertialSensor_L3GD20 and
the AP_InertialSensor_LSM303D. For that reason the old LSM9DS0
(consisting of gyro and accel+mag implemented on a single class) has
been moved to a folder.
Legacy LSM9DS0 didn't probe to receive "correct" data.
2014-08-19 10:08:15 +10:00
Randy Mackay
51f40fe3d6
INS: add accessor for mpu6k filter
2014-08-14 11:47:23 +09:00
Randy Mackay
0e7cbd28c8
INS_HIL: init members to resolve compiler warnings
2014-08-14 11:27:32 +09:00
Andrew Tridgell
24251a7e12
AP_InertialSensor: fixed example build
2014-08-13 21:48:35 +10:00
Andrew Tridgell
984064f3d3
AP_InertialSensor: fixed example build
2014-08-13 18:46:44 +10:00
Mikhail Avkhimenia
34da221c3d
AP_InertialSensor: Use MPU9250 DRDY pin only on boards that support it
2014-08-12 22:13:00 +10:00
Andrew Tridgell
f8ceccce32
AP_InertialSensor: improved HIL timing consistancy
...
try to keep the average time for each sample right
2014-08-09 22:50:15 +10:00
Andrew Tridgell
1d4d848300
AP_InertialSensor: fixed a build warning
2014-08-08 13:48:03 +10:00
Andrew Tridgell
ed6ab5f1d3
AP_InertialSensor: use bool for blocking_read()
...
uint8_t return was confusing
2014-08-07 13:09:17 +10:00
Michael Carpenter
b4c0e1215b
AP_InertialSensor: Use return value of blocking_read to handle calibration timeouts
2014-08-07 13:04:18 +10:00
Andrew Tridgell
cc735a4200
AP_InertialSensor: some more debug info for VibTest
2014-07-31 12:48:30 +10:00
Andrew Tridgell
f7b01a6f3f
AP_InertialSensor: avoid integer underflow in mavlink txspace check
2014-07-27 22:18:52 +10:00
Andrew Tridgell
662276597a
AP_InertialSensor: fixed example build
2014-07-25 17:52:14 +10:00
Andrew Tridgell
79f453dfd3
AP_InertialSensor: use LSM9DSO_AM device
2014-07-19 13:23:54 +10:00
Randy Mackay
6baedbda1d
AP_InertialSensor: add empty virtual destructor
2014-07-16 14:56:56 +09:00
Randy Mackay
a09f7b9198
AP_InertialSensor_MPU6k: init members to reduce compiler warnings
2014-07-16 14:40:55 +09:00
Randy Mackay
c5a03ea18e
AP_InertialSensor: init members to reduce compiler warnings
2014-07-16 14:40:53 +09:00
LukeMike
85fc72c57c
AP_InertialSensor: VRBRAIN added 3th inertial sensor
2014-07-15 20:42:15 +10:00
Andrew Tridgell
0f724c1d7a
AP_InertialSensor: removed per-device example code
...
now can use a single generic test for all boards
2014-07-14 09:44:36 +10:00
Andrew Tridgell
5a170c6343
AP_InertialSensor: added INS_generic test
2014-07-14 09:44:36 +10:00
Andrew Tridgell
d1ba78002d
AP_InertialSensor: added paranoid check for DRDY pin
2014-07-14 09:44:36 +10:00
Andrew Tridgell
6f9965cc22
AP_InertialSensor: fixed setup of DRDY pin on MPU9250
2014-07-14 09:44:36 +10:00
Andrew Tridgell
6a6dbe5790
AP_InertialSensor: added check for WHOAMI on MPU9250
2014-07-14 09:44:35 +10:00
Andrew Tridgell
abb53eb9a2
AP_InertialSensor: simplify using HAL board subtypes
2014-07-14 09:44:35 +10:00
Andrew Tridgell
848b563fc3
AP_InertialSensor: rotate acccel/gyro for PXF
2014-07-14 09:44:34 +10:00
Andrew Tridgell
ea188528fc
AP_InertialSensor: fixed build errors for LSM9DSO
2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches
2982fc029c
AP_InertialSensor_LSM9DS0: Fix _dump_registers method
2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches
feedc40f72
AP_InertialSensor_LSM9DS0: Move LSM9DS0_DEBUG flag to the header
2014-07-14 09:44:34 +10:00
Andrew Tridgell
297bb52ced
AP_InertialSensor: added MPU9250 header
2014-07-14 09:44:34 +10:00
Víctor Mayoral Vilches
f213f01983
AP_InertialSensor_LSM9DS0: Remove previous CS handling.
...
CS is now being automatically handled by the SPI Driver.
2014-07-14 09:44:33 +10:00
Andrew Tridgell
3ed4f82cb0
AP_InertialSensor: fixed DRDY include for Linux
2014-07-14 09:44:33 +10:00
Andrew Tridgell
06b6d7aaf0
AP_InertialSensor: fixeup DRDY pin for different boards
2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches
3379ddd51f
AP_InertialSensor_MPU6000: Add _register_write_check method.
...
This private method allows to check whether the value written and
the posterior value readed are the same.
Should be used only for debuging purposes, for release versions use
_register_write instead.
2014-07-14 09:44:33 +10:00
Víctor Mayoral Vilches
0fff8df491
AP_InertialSensor: fix LSM9DS0 test code
2014-07-14 09:32:30 +10:00
Víctor Mayoral Vilches
bb5de8a6a1
AP_InertialSensor_LSM9DS0: Fix the CS.
2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
ad3a3f9366
AP_InertialSensor_MPU6000: Fix the CS.
2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
aa60a89cda
AP_InertialSensor_MPU9250: Fix SPI CS.
2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches
bae84e2942
AP_InertialSensor: Add missing library to test example.
2014-07-14 09:29:36 +10:00
Víctor Mayoral Vilches
4df3b55ed4
AP_InertialSensor_MPU9250: Add missing library for example/
...
In order to compile the examples test a library needed to
added.
2014-07-14 09:29:36 +10:00
Víctor Mayoral Vilches
eb95130441
AP_InertialSensor_MPU9250: remove legacy CS.
2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
5e7e28a83e
AP_InertialSensor_MPU9250.cpp: Update the DRDY pin.
2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
d053a91cd5
AP_InertialSensor_MPU6000: Remove MPU6000_CS_PIN
...
Remove MPU6000_CS_PIN, a legacy way of handling
Chip Select.
2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
d9cb29ea8b
AP_InertialSensor_MPU6000: Correct DRDY pin.
2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches
df14318bbd
AP_InertialSensor_L3G4200D: Clock-based wait_for_sample() impl.
2014-07-14 09:29:08 +10:00
Víctor Mayoral Vilches
7cf1187473
AP_InertialSensor_MPU9150: Clock-based wait_for_sample() impl.
...
Adapt the I2C driver to a system clock based wait_for_sample()
implementation.
The sample rate of the sensor has been corrected to 800 Hz (could be
further pushed up to 1KHz).
Filters for the mag have also been created but remain commented until
the code for the mag is ready.
2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches
c4babc543d
AP_InertialSensor_LSM9DS0: SPI userspace sensor driver.
...
ST Microelectronics 9 DOF IMU userspace sensor driver. Some
work with the filters needs to be done.
2014-07-14 09:10:23 +10:00
Víctor Mayoral Vilches
1c07985518
AP_InertialSensor_MPU9150: Comment the suspend_timer_procs
...
It causes the driver to hang. This matter should be inspected.
2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
d65aefbef5
AP_InertialSensor_MPU6000: Fix the test code so that compiles.
2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
fac3d1c271
AP_InertialSensor_MPU9250: SPI userspace sensor driver.
...
InvenSense MPU9250 sensor driver and test code (available under
libraries/examples/).
2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches
4d79887cc5
L3G4200D: fix in the test example provided.
...
The test coded had a call to "wait_for_sample" that expected one
argument and 0 where provided.
2014-07-14 08:52:51 +10:00
Andrew Tridgell
ab7e96b9de
AP_InertialSensor: updates for ERLE board type
2014-07-14 08:51:44 +10:00
Victor Mayoral Vilches
44320708a7
AP_InertialSensor_MPU9150: I2C userspace driver sensor added.
...
The MPU9150 is a 9 axis sensor that includes 3 accelerometers,
3 gyroscopes and 3 magnetometers. All accessible through I2C.
The AP_InertialSensor_MPU9150 class allows APM to use this sensor.
2014-07-14 08:16:29 +10:00
Randy Mackay
7e04b5d1f1
INS: calibrated method checks all accelerometers
2014-07-13 22:05:21 +09:00
Andrew Tridgell
d325f630e5
VibTest: added sample timing to console output
2014-07-09 12:12:23 +10:00
Andrew Tridgell
863e7a5f93
VibTest: fixed array bounds error
2014-07-09 08:11:52 +10:00
Andrew Tridgell
2c8240dbb4
VibTest: fixed gyro timestamps in logs
...
it was using the accel timestamps
2014-07-09 08:10:09 +10:00
Andrew Tridgell
d50d5b8f24
VibTest: fixed sample count output on console
2014-07-08 10:59:30 +10:00
Andrew Tridgell
03770c4d34
VibTest: added gyro data and support 3 sensors
...
will be used for vibration testing on FMUv3
2014-07-08 10:07:58 +10:00
Andrew Tridgell
ca12592448
AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk
...
this supports FMUv3
2014-06-30 07:58:27 +10:00
Andrew Tridgell
ece01da10e
AP_InertialSensor: fixed _dump_registers() for MPU6000
...
need to take the semaphore to prevent bus errors
2014-06-29 12:11:21 +10:00
LukeMike
8f552d5758
VRBRAIN: Changed the management of VirtualRobotix's boards.
2014-06-19 11:27:38 +02:00
Andrew Tridgell
4c43cd9775
AP_InertialSensor: fixes for HAL_GPIO_*
2014-06-02 10:42:35 +10:00
Andrew Tridgell
65fd25fb5a
AP_InertialSensor: fixed example build
2014-05-18 08:08:19 +10:00
Andrew Tridgell
8533aecf18
AP_InertialSensor: fixed example build
2014-05-16 21:24:25 +10:00
Andrew Tridgell
086142580a
AP_InertialSensor: added VibTest sketch
...
logs all accel data at high rate to SD card
2014-05-15 21:14:21 +10:00
Emile Castelnuovo
06744ea7d2
AP_InertialSensor: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
Andrew Tridgell
2763393908
AP_InertialSensor: fixed some compiler warnings
2014-03-24 12:52:16 +11:00
Andrew Tridgell
731f980327
AP_InertialSensor: fixed example build
2014-03-19 12:13:47 +09:00
Jonathan Challinger
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
2014-02-28 17:25:54 +11:00
Andrew Tridgell
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
Andrew Tridgell
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
2014-02-27 08:10:42 +11:00
Andrew Tridgell
6732d6c79b
AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL
2014-02-23 19:10:07 +11:00
Andrew Tridgell
0e18079c47
AP_InertialSensor: allow HIL sensors to support multiple instances
...
this allows log replay to test both sets of sensors on a Pixhawk log
2014-02-23 08:16:33 +11:00
Randy Mackay
33fe778cdd
InertialSensor_PX4: resolve compiler warning
2014-02-21 13:53:34 +09:00
Andrew Tridgell
fe0cb23733
AP_InertialSensor: fixed HIL for 400Hz INS
2014-02-19 10:29:00 +11:00
Mike McCauley
2c94a40310
AP_InertialSensor: AP_InertialSensor_Flymaple Remove unnecessary
...
comment
2014-02-17 05:56:37 +11:00
Mike McCauley
dd6abb49a9
AP_InertialSensor: AP_InertialSensor_Flymaple::healthy() was required after
...
all.
2014-02-17 05:56:37 +11:00
Mike McCauley
0a43cf8c5c
AP_InertialSensor: AP_InertialSensor_Flymaple removed redundant definition of
...
healthy().
2014-02-17 05:56:37 +11:00
Mike McCauley
f7279aa13f
AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health
...
and get_accel_health.
2014-02-17 05:56:37 +11:00
Andrew Tridgell
f9d0747750
AP_InertialSensor: fixed example build
2014-02-15 06:39:35 +11:00
Andrew Tridgell
3617c65af7
AP_InertialSensor: make HIL treat time like PX4 does
2014-02-15 05:48:20 +11:00
Andrew Tridgell
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
...
allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
Randy Mackay
b7565affcd
INS: add support for 400hz for PX4
2014-02-15 05:27:33 +11:00
Andrew Tridgell
a95a3142e0
AP_InertialSensor: use fixed size arrays
...
apparently helps SITL build on MacOS
2014-02-08 19:32:26 +11:00
Andrew Tridgell
045efdb084
AP_InertialSensor: fixed example builds
2014-01-30 13:33:38 +11:00
Andrew Tridgell
58d3729d16
AP_InertialSensor: fixed default health functions
...
this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
2014-01-22 22:08:28 +11:00
Don Gagne
68b3b31499
Param doc typo
2014-01-18 10:18:58 +09:00
Randy Mackay
965e5b2dfd
INS: check for good calibration for 10seconds
...
Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration. This restores the total time to 10
seconds.
2014-01-17 12:48:11 +09:00
Randy Mackay
1f76ada9dd
INS: shortened gyro calibration
...
Removed delays before calibration, reduced number of samples taken,
widened convergence criteria
2014-01-16 13:40:49 +09:00
Randy Mackay
a400ddeb88
INS: replace APM with vehicle in accel calibrate
2013-12-28 10:41:49 +09:00
Andrew Tridgell
8dd34f8bc4
AP_InertialSensor: fixed example build
2013-12-17 11:51:37 +11:00
Andrew Tridgell
6d39cf5e49
AP_InertialSensor: another attempt at fixing the spurious bad gyro health warnings
...
cope with _get_sample() not being called for a while
2013-12-14 15:47:49 +11:00
Andrew Tridgell
99e2dc87c9
AP_InertialSensor: prevent INS healthy errors while initialising
...
during gyro cal we shouldn't mark the gyro unhealthy
2013-12-13 20:47:24 +11:00
Andrew Tridgell
23a112c5d5
AP_InertialSensor: reduce the number of format string warnings
2013-12-11 17:29:27 +11:00
Andrew Tridgell
433ad19335
AP_InertialSensor: fixed loop limits
...
stops pointless operations
2013-12-11 14:57:13 +11:00
Andrew Tridgell
e54fc6b8e3
AP_InertialSensor: make sure we wait for a sample before update()
2013-12-11 13:50:50 +11:00
Andrew Tridgell
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
2013-12-09 20:02:04 +11:00
Andrew Tridgell
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
Andrew Tridgell
d9b6f7f0f7
AP_InertialSensor: implement up to two sensors on PX4
2013-12-09 17:34:05 +11:00
Andrew Tridgell
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
Randy Mackay
fd9b115d01
INS: move Product ID to @User Advanced
2013-11-26 22:18:28 +09:00
Andrew Tridgell
71bb462ad0
AP_InertialSensor: use fabsf()
2013-11-15 10:43:10 +11:00
Andrew Tridgell
aef9289476
AP_InertialSensor: added INS_PRODUCT_ID values
2013-11-15 10:43:10 +11:00
Andrew Tridgell
f10a4b04ae
AP_InertialSensor: make PX4 healthy call _get_sample()
...
this prevents a false positive during times like arming where we are
not reading the sensors
2013-11-10 17:03:16 +11:00
Andrew Tridgell
80def01fbe
AP_InertialSensor: fixed semaphore error on startup for MPU6000
2013-11-09 11:26:50 +11:00
Andrew Tridgell
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
...
used to detect bad accels
2013-11-07 13:53:59 +11:00
Andrew Tridgell
9ecd889e9d
AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed
...
this uses bad data or bad INT_STATUS values from the MPU6000 to detect
the sensor running too fast and lower bus speed
2013-11-07 12:48:17 +11:00
Andrew Tridgell
b98bcbf715
AP_InertialSensor: automatically lower bus speed on mpu6k bad reads
2013-11-07 12:48:16 +11:00
Andrew Tridgell
bdc40cc7df
AP_InertialSensor: try to lower SPI bus speed on errors
2013-11-07 12:48:16 +11:00
Andrew Tridgell
1cd070a2e7
AP_InertialSensor: use const reference returns
...
saves some vector copies
2013-11-04 21:21:42 +11:00
Andrew Tridgell
f4dde44b8d
AP_InertialSensor: SITL doesn't use Oilpan code any more
2013-11-02 21:41:11 +11:00
Mike McCauley
fe6cacf081
AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp
2013-10-14 11:34:47 +10:00
Andrew Tridgell
7831113f84
AP_InertialSensor: yield the CPU for the right time in wait_for_sample()
...
this improves timing performance
2013-10-14 08:45:58 +11:00
Andrew Tridgell
8532e2bff8
AP_InertialSensor: fixed timing of PX4 sensor samples
2013-10-13 22:15:50 +11:00
Andrew Tridgell
9833900f91
AP_InertialSensor: run MPU6000 sensor register reads at 8MHz
...
run other register IO at 500kHz
2013-10-13 11:03:08 +09:00
Andrew Tridgell
b3af59cc0c
AP_InertialSensor: don't build L3G4200D example
2013-10-10 09:54:20 +11:00
Andrew Tridgell
a04c056598
AP_InertialSensor: remove unused get_last_sample_time_micros()
2013-10-10 09:54:19 +11:00
Andrew Tridgell
5d685385eb
AP_InertialSensor: use gyro sample count on L3G4200D
...
this gives more even timing in ArduCopter
2013-10-08 19:20:34 +11:00
Andrew Tridgell
6444b0bddd
AP_InertialSensor_L3G4200D: a sample is only available if gyro had a sample
2013-10-08 19:20:34 +11:00
Andrew Tridgell
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
Andrew Tridgell
c17a5e5ed1
AP_InertialSensor: added a small delay in accel calibration
...
allows threads to run on Linux
2013-10-08 11:50:54 +11:00
Andrew Tridgell
12af23bb7c
AP_InertialSensor: added L3G4200D example
2013-10-08 11:50:53 +11:00
Andrew Tridgell
1aabd7155e
AP_InertialSensor: added L3G4200D driver
...
this is for a cheap ebay 10DOF sensor
2013-10-08 11:50:53 +11:00
Mike McCauley
c90c1b9998
AP_InertialSensor: Improvements to Flymaple sensors
...
Fix a bug that caused hang after 71 minutes. Use I2CDriver semaphore.
Remove test for in_accumulate: not needed.
2013-10-04 07:21:55 +10:00
Mike McCauley
9ea1108d4e
AP_InertialSensor: Flymaple filter constructor arguments non non-zero
2013-10-04 07:21:55 +10:00
Andrew Tridgell
dda68bddcb
AP_InertialSensor: updates for AP_HAL::MemberProc
2013-09-30 21:06:42 +10:00
Andrew Tridgell
1191607036
AP_InertialSensor: enable Oilpan on Linux
2013-09-29 00:57:13 +10:00
Andrew Tridgell
cf726c6642
AP_InertialSensor: rename Stub to HIL
...
more consistent with other drivers
2013-09-28 22:04:15 +10:00
Andrew Tridgell
03036c632d
AP_InertialSensor: use new scheduler API
2013-09-28 21:24:03 +10:00
Andrew Tridgell
096660c4f9
AP_InertialSensor: mark flymaple as nobuild
...
won't build with build_examples.sh script
2013-09-27 16:57:13 +10:00
Mike McCauley
e4eef61ec3
AP_InertialSensor: Flymaple sensors improvements
...
Flymaple sensors are now raw sampled at 800Hz, and LowPassFilter2p is used
to filter to the desired filter cutoff frequency.
Flymaple sensor polling is done in the main thread NOT in the timer
interrupts.
2013-09-27 15:45:59 +10:00
Mike McCauley
23429b6b9c
AP_InertialSensor: Flymaple now polls sensors at 800Hz. More changes to
...
come...
2013-09-27 15:45:57 +10:00
Mike McCauley
29bced05bd
AP_InertialSensor: Added examples/Flymaple for testing
2013-09-27 15:45:54 +10:00
Mike McCauley
d11f952ef1
AP_InertialSensor: Formalise and document Flymaple Gyro scaling factor
2013-09-27 15:45:52 +10:00
Mike McCauley
adfcdca074
AP_HAL_FLYMAPLE: Sensor reading improvements
...
I2C speed increased to 400kHz
Accelerometer 8g max, Normal power, 800Hz bandwidth
Gyros: 2000 degrees/sec, 256Hz LPF, 8kHz internal sample rate
2013-09-27 15:45:47 +10:00
Randy Mackay
f7ba0438ef
InertialSensor: remove DMP
...
this saves 3K of flash
2013-09-27 10:43:33 +09:00
Andrew Tridgell
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
Andrew Tridgell
1ec5cbed81
AP_InertialSensor: removed SMACCM support
2013-09-26 22:38:31 +10:00
Mike McCauley
e4b5d0a3d6
AP_InertialSensor: Final Flymaple orientation fixes
2013-09-25 15:46:07 +10:00
Mike McCauley
276068356e
AP_InertialSensor: Further Flymaple orientation fixes
2013-09-25 15:46:07 +10:00
Mike McCauley
b02dbca9d4
AP_InertialSensor: fix orientation of Flymaple sensors
2013-09-25 15:46:07 +10:00
Mike McCauley
4d10a96077
AP_InertialSensor: Add flymaple support
2013-09-24 13:51:27 +10:00
Andrew Tridgell
770b7b5901
AP_InertialSensor: prevent a lockup in MPU6000 driver
...
thanks to the VRBrain port for noticing this bug.
Failing to get the semaphore is an expected error with the MPU6000, as
we read data both from timer context and mainline code. That means
semaphore conflicts are inevitable. We shouldn't consider them an
error, and shouldn't panic when some arbitrary number of them have
happened since boot.
Instead the wait_for_sample() code checks that we receive new data at
least every 50ms. That is a much safer test.
2013-09-23 22:48:36 +10:00
Andrew Tridgell
4d2bfe1078
AP_InertialSensor: fixed another example build
2013-09-19 21:09:34 +10:00
Andrew Tridgell
e1aa6e3ff1
libraries: fixed examples for no flash_leds() callback
2013-09-19 18:38:28 +10:00
Andrew Tridgell
f8e9d48a76
AP_InertialSensor: removed the flash_leds() callback
...
AP_Notify now handles this
2013-09-19 18:32:19 +10:00
Andrew Tridgell
7b3a674d66
AP_InertialSensor: added set_default_filter() method
2013-09-09 19:18:52 +10:00
Andrew Tridgell
396c4f30d2
AP_InertialSensor_PX4: don't set QUEUEDEPTH
...
the default of 2 samples is fine
2013-09-09 18:04:40 +10:00
Andrew Tridgell
8b80beadc4
PX4: make FMUv2 identify itself differently
...
so we can tell which is which in logs
2013-09-09 18:04:40 +10:00
Andrew Tridgell
ff0f6bcd42
AP_InertialSensor: fixed example build
2013-09-07 21:03:59 +10:00
Andrew Tridgell
5caf2e0ea4
AP_InertialSensor: fixed example build
2013-08-30 13:01:39 +10:00
Andrew Tridgell
65a490c209
AP_InertialSensor: update for new notify API
2013-08-30 13:01:35 +10:00
Randy Mackay
5651bdbe3a
INS: integrate AP_Notify
2013-08-30 13:01:35 +10:00
Andrew Tridgell
e5ad9dbd15
AP_InertialSensor: switch PX4 driver to fixed time per sample model
...
this makes the driver much simpler, and does away with the need for an
accumulate function
2013-08-30 13:01:33 +10:00
Andrew Tridgell
38fe89d661
AP_InertialSensor: switch to non-averaging system for PX4 IMUs
...
always use the latest value, based on a lowpass filter in the driver
2013-08-30 13:01:33 +10:00
Andrew Tridgell
46c5d18585
AP_InertialSensor: disable averaging on FMUv2
...
the new filter from Leonard means we shouldn't average values, and
instead just use the last value
2013-08-30 13:01:33 +10:00
Julian Oes
c3b27629ec
AP_InertialSensor: run PX4 FMUv2 at 800Hz
...
this gives much better noise suppression
2013-08-30 13:01:33 +10:00