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42 Commits

Author SHA1 Message Date
Andrew Tridgell ccd915eb67 AP_InertialSensor: moved raw gyro and accel logging to common code 
this brings raw logging to non-PX4 ports
 2015-11-16 17:57:35 +11:00
Andrew Tridgell 75ea8f3dc0 AP_InertialSensor: removed "have sample" logic from drivers 
the frontend has all the information it needs, so we can simplify the
drivers some more
 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
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Gustavo Jose de Sousa 4e83f7b02c AP_InertialSensor: PX4: don't calculate delta angle 
Delta angle calculation will be unified.
 2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa f769a39449 AP_InertialSensor: PX4: don't calculate delta velocity 
Delta velocity calculation will be unified.
 2015-10-22 16:31:07 +11:00
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
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
Jonathan Challinger 423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
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 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
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
Emile Castelnuovo dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
LukeMike 6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +11:00
Andrew Tridgell aeaa3c1e04 AP_InertialSensor: fixed build for VRBrain 2014-10-24 12:10:41 +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 d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell 2c85a7ba56 AP_InertialSensor: expose get_primary_accel() for use in AHRS 2014-02-27 16:27:46 +11:00
Randy Mackay 33fe778cdd InertialSensor_PX4: resolve compiler warning 2014-02-21 13:53:34 +09:00
Andrew Tridgell b1c5f23bbd AP_InertialSensor: make get_delta_time() const 
allows use from AP_NavEKF
 2014-02-15 05:29:47 +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 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 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 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 8532e2bff8 AP_InertialSensor: fixed timing of PX4 sensor samples 2013-10-13 22:15:50 +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 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 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
Andrew Tridgell 76e20150e9 AP_InertialSensor: ensure parent class is initialised in instance classes 2013-04-12 14:30:35 +10:00
Andrew Tridgell 1121254606 AP_InertialSensor: added filter frequency support to PX4 driver 2013-02-07 11:20:45 +11:00
Andrew Tridgell 5643c371b9 AP_InertialSensor: removed unused new_data_available() and temperature() APIs 2013-02-07 10:23:37 +11:00
Andrew Tridgell f60d657f72 AP_InertialSensor: added timer for accumulating samples for PX4 
this makes the driver much more tolerant of sketch timing errors
 2013-01-21 21:51:32 +11:00
Andrew Tridgell 3d0cb755d2 AP_InertialSensor: user a timer to drive data collection on PX4 
this reduces the chance of missing a sample if the main sketch is a
bit slow
 2013-01-21 19:44:01 +11:00
Andrew Tridgell 16d72ca160 AP_InertialSensor: update PX4 driver to use read() method 2013-01-20 22:13:20 +11:00
Andrew Tridgell 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
Andrew Tridgell ae09b31176 AP_InertialSensor: added PX4 gyro/accel driver 2013-01-04 14:25:57 +11:00