d0014c4fe3
AP_InertialSensor: refactor constructors to avoid leak
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We were previously leaking the AP_MPU6000_BusDriver if the
~AP_InertialSensor_MPU6000::detect*() failed. In order to avoid the
leak move the repeated code in a single private _detect() member that
receives everything as argument. Then this method takes ownership of the
objects.
By a adding a destructor to AP_InertialSensor_MPU6000 it becomes easier to
free the objects it takes ownership of.
2015-08-19 20:40:17 +09:00
5fbbdca9f9
AP_InertialSensor: MPU6000: be agnostic to I2C bus/address
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This decision is better made by the caller rather than polluting the
driver with board-specific details.
2015-08-19 20:40:16 +09:00
886b302019
AP_InertialSensor: remove unused enum bus_speed
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The methods actually use the enum from AP_HAL::SPIDeviceDriver, so don't
declare a new one. The I2C implementation is empty; if we actually start
to use it we'd better move the bus abstraction to HAL.
2015-08-19 20:40:12 +09:00
5b2ff84c06
AP_InertialSensor: fix whitespace usage
2015-08-19 20:40:10 +09:00
6df33dd3f4
AP_InertialSensor: fixed MPU6000_SPI bus initialisation
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we need _spi for get_semaphore()
2015-07-10 16:46:30 +10:00
3cf952d1f8
AP_InertialSensor: add fifo support for MPU6000
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And remove the use of data rdy in this case
2015-07-10 14:24:09 +10:00
8a76ff53bd
AP_InertialSensor: add i2c bus driver for MPU6050
2015-07-10 14:24:09 +10:00
1679728730
AP_InertialSensor: Configure SPI as a generic bus for MPU6000
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Add the possibility to implement an i2c bus communication for the
MPU6050 on parrot bebop
2015-07-10 14:24:09 +10:00
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
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this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
502446d821
AP_InertialSensor: use LowPassFilter2pVector3f
2015-03-12 12:50:27 +11:00
9dfbdb1e69
AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs
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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
a047d1f569
AP_InertialSensor: moved default filter and sample_rate to frontend
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this simplifies the backends and prevents code repitition
2014-10-24 12:10:40 +11:00
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
2014-10-24 12:10:37 +11:00
448efc70a3
AP_InertialSensor: first steps in frontend/backend split
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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
3379ddd51f
AP_InertialSensor_MPU6000: Add _register_write_check method.
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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
d053a91cd5
AP_InertialSensor_MPU6000: Remove MPU6000_CS_PIN
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Remove MPU6000_CS_PIN, a legacy way of handling
Chip Select.
2014-07-14 09:29:18 +10:00
d9cb29ea8b
AP_InertialSensor_MPU6000: Correct DRDY pin.
2014-07-14 09:29:18 +10:00
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
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allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
58d3729d16
AP_InertialSensor: fixed default health functions
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this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
2014-01-22 22:08:28 +11:00
2753449e75
AP_InertialSensor: added support for multiple accel/gyro devices
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this makes it possible to ask for the gyro and accel vectors from
secondary INS devices.
2013-12-09 17:34:05 +11:00
f10a4b04ae
AP_InertialSensor: make PX4 healthy call _get_sample()
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this prevents a false positive during times like arming where we are
not reading the sensors
2013-11-10 17:03:16 +11:00
9ecd889e9d
AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed
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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
b98bcbf715
AP_InertialSensor: automatically lower bus speed on mpu6k bad reads
2013-11-07 12:48:16 +11:00
bdc40cc7df
AP_InertialSensor: try to lower SPI bus speed on errors
2013-11-07 12:48:16 +11:00
e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
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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
03036c632d
AP_InertialSensor: use new scheduler API
2013-09-28 21:24:03 +10:00
f7ba0438ef
InertialSensor: remove DMP
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this saves 3K of flash
2013-09-27 10:43:33 +09:00
14636e1cdf
AP_InertialSensor: changed num_samples_available() to sample_available()
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this makes the interface clearer. It also fixes a 3D accel cal bug.
2013-09-27 10:49:00 +10:00
7b1245937c
AP_InertialSensor: always sample at 200Hz in MPU6000
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this changes the sampling to 200Hz regardless of requested rate, and
it is downsampled inside num_samples_available() using a shift. This
gives better noise resistance in ArduPlane.
This patch also makes it possible to update the filter frequency while
running, which is very useful for bench testing with a vibration
source
2013-02-07 10:23:08 +11:00
6142eac4b4
AP_InertialSensor: simplify get_delta_time() API
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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
910e09fc96
AP_InertialSensor_MPU6000: fix sync/async semaphore usage with new scheduler
2013-01-10 14:12:19 -08:00
d808c19c10
AP_InertialSensor_MPU6000: uses new semaphores
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* some refactoring to fix differences between timerprocess
and non-timerprocess usage
2013-01-03 13:48:07 -08:00
acf05a29ee
AP_InertialSensor_MPU6000: Poll status register if there is no data ready pin.
2013-01-03 13:48:06 -08:00
212728be34
InertialSensor: ensure MPU6000 is out of sleep mode before configuring
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the MPU6000 starts in sleep mode, and can take a while to wakeup
2012-12-27 21:28:41 +11:00
1a53bc783c
InertialSensor: poll data ready pin instead of an interrupt for MPU6k
2012-12-22 09:16:31 +11:00
9548e7e79e
InertialSensor: simplify the data_ready interrupt handling
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this avoids using the defer process code, and fixes a nasty bug that
caused the APM to lockup on reset
2012-12-21 20:01:19 +11:00
2c1682f310
InertialSensor: use AP_HAL progmem
2012-12-20 14:51:39 +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
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these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
b237c0583d
AP_InertialSensor: Added INS_MPU6K_FILTER option
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this allows the user to select the MPU6000 filtering frequency
2012-11-30 07:15:19 +11:00
089ae0f9f3
AP_InertialSensor: allow specification of sample rate in init() call
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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
d9b4407e64
AP_InertialSensor: changes after review with Tridge.
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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
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add gauss-newton method of accelerometer calibration
2012-11-07 19:20:27 +09:00
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
7a265dbf61
AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete
2012-09-10 11:38:03 +09:00
0a6219695b
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
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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
ad51ac5e11
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
2012-08-21 19:03:14 -07:00
7683e9d870
AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)
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Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
2012-07-28 16:33:04 +09:00
6cd0918134
AP_InertialSensor: methods added to access DMP functionality
2012-07-28 14:14:43 +09:00
acc6adf6e9
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
Lucas De Marchi
Andrew Tridgell
Julien BERAUD
Jonathan Challinger
Andrew Tridgell
Víctor Mayoral Vilches
Randy Mackay
Pat Hickey
James Bielman
uncrustify