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1153 Commits

Author SHA1 Message Date
Andrew Tridgell e67d9b4179 AP_InertialSensor: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Andrew Tridgell 95ae150a21 AP_InertialSensor: catch FIFO overruns on BMI088 
we have seen errors where the BMI088 gets out of sync, so that the 3
axes are rotated. The data is shifted by 4 bytes, so that X=Z, Y=X
and Z=Y

this changes the BMI088 to "stop on full" mode, which is what Bosch
use in their example drivers, and also catches FIFO overrun events and
triggers a full FIFO reset. This should fix the problem with the FIFO
sync
 2022-04-16 19:24:16 +10:00
Andrew Tridgell ab5e8419d8 AP_InertialSensor: move INS_HNTC2 to a new parameter table ID 2022-04-16 08:14:06 +10:00
Andy Piper 29e8f96275 AP_InertialSensor: move frontend update into ramfunc. 2022-04-12 09:19:45 +10:00
Peter Barker 3dae386ae3 AP_InertialSensor: correct compilation with HAL_INS_ACCELCAL_ENABLED false 2022-03-22 10:39:44 +11:00
Peter Barker a53af5277c AP_InertialSensor: assume accel cals are stored for sitl-on-hw 
Same as for SITL - they don't need to actually be in storage to be valid
 2022-03-17 14:39:55 +11:00
Peter Barker da21b48f7e AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
murata efe8427279 AP_InertialSensor: Change from division to multiplication 2022-03-16 18:41:52 +11:00
Iampete1 b77476caa1 AP_InertialSensor: remove custom orentations 2022-03-02 18:16:42 +11:00
Peter Barker fda4a65e3e AP_InertialSensor: include cleanups 2022-03-01 11:21:33 +11:00
Andy Piper c7a43f2a90 AP_InertialSensor: put some functions in fast ram 
precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
 2022-02-09 12:47:55 +00:00
Peter Barker 558f6babc4 AP_InertialSensor: correct compilation if INS_TEMPERATURE_CAL_ENABLE is off 2022-02-08 10:44:01 +11:00
Peter Barker c1c329e2b4 AP_InertialSensor: add and use AP_SIM_INS_ENABLED 2022-01-17 19:14:39 +11:00
Jaaaky f80a9ba3ce AP_InertialSensor: Fix issue #19599 Failed to build Pixhawk1 with O3 
As suggested by @tridge
 2022-01-17 08:33:27 +11:00
Peter Barker 80178f5d07 AP_InertialSensor: mark FTN as a streamed message 2022-01-05 16:34:36 +11:00
Peter Barker 6084682634 AP_InertialSensor: move INS notch filter logging into INS 2022-01-05 16:34:36 +11:00
Andy Piper 3fd79b8ffb AP_InertialSensor: BMI270 driver 2021-12-31 09:25:29 +11:00
Andrew Tridgell 7c8794b0bd AP_InertialSensor: fixed INS_generic example 
useful for driver development
 2021-12-30 10:02:35 +11:00
Andrew Tridgell 662327f2ea AP_InertialSensor: added support for more ADIS IMUs 
support 32 bit delta angles and velocities
 2021-12-29 18:25:18 +11:00
Andy Piper 6e3b502110 AP_InertialSensor: inline vector ops for backends and temp cal 2021-12-22 18:23:33 +11:00
Andy Piper d44478ff59 AP_InertialSensor: calculate number of notches based on motor count 
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
 2021-12-22 18:13:38 +11:00
Jaaaky bbb38504d6 AP_InertialSensor: Fix multi #include's 2021-12-21 10:38:46 +11:00
Peter Barker c6734ad825 AP_InertialSensor: correct logging of inertial-sensor reg-change logging 2021-12-18 21:25:27 +11:00
QioTek e5a8695640 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-17 07:58:48 +11:00
QioTek 586c2064a6 AP_InertialSensor: added support for IIM-42652 and ICM-40605 sensors 
handle new Invensense v3 sensor types
 2021-12-14 11:38:36 +11:00
Josh Henderson 27bcec9d6e AP_InertialSensor: for all Cubes ensure use of non-isolated IMU 2021-11-30 10:20:54 +11:00
Randy Mackay 0de96f3f4a AP_InertialSensor: vibe units m/s/s 
also specify no multiplier
 2021-11-18 13:23:06 +09:00
Andrew Tridgell 12c10dce32 AP_InertialSensor: fixed comments on IMU types supported 2021-11-09 08:05:03 +11:00
Buzz 168dc34566 AP_InertialSensor: New fallback type = NONE, which successfully does nothing like an INS, but without needing a real one, like esp32 dev boards. 
Good for boards that u want to boot even when they dont have an IMU attached.
Author: Charles Villard <charlesvillard10@gmail.com>
Author: Buzz <davidbuzz@gmail.com>
 2021-11-01 17:40:31 +11:00
Andy Piper 6a00819b2d AP_InertialSensor: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Gone4Dirt 290794bf93 AP_InertialSensor: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
Peter Barker dac4134533 AP_InertialSensor: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Andrew Tridgell fefade783b AP_InertialSensor: allow accelcal with a rotation 2021-09-17 14:07:14 +10:00
Andrew Tridgell 4fdc1ebc30 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-08-31 10:10:18 +10:00
Pierre Kancir 29b13ff98a AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Scott Parlane 4d95a9d1c3 AP_InertialSensor: BMI160: Allow configuring the rotation 2021-08-13 12:32:28 +10:00
Scott Parlane 700edd241f AP_InertialSensor: BMI160: Make it possible to use I2C 
The BMI160 chip talks the same protocol over SPI and I2C,
so simply allowing I2C in hwdef is sufficient to allow it to be used.
 2021-08-13 12:32:28 +10:00
Scott Parlane 6554c535a1 AP_InertialSensor: BMI160: Remove linux-only restriction 2021-08-13 12:32:28 +10:00
bugobliterator f20b7d0f8e AP_InertialSensor: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Andrew Tridgell f68ed4f0a4 AP_InertialSensor: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell 0f3dc195b6 AP_InertialSensor: fixed build warning 2021-07-27 19:50:21 +10:00
Siddharth Purohit c4caf2ff54 AP_InertialSensor: add HAL_INS_ENABLED 2021-06-30 17:06:02 +10:00
Siddharth Purohit 447935bf4c AP_InertialSensor: remove dependence on gcs for AP_Periph builds 2021-06-30 17:06:02 +10:00
Peter Barker 731cf038f0 AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 52a52e1e5b AP_InertialSensor: remove HIL support 2021-06-15 09:47:31 +10:00
nkruzan f4c18e0f9c AP_InertialSensor_Invensense: set reset count to 1 if 10s has passed since last reset 2021-05-25 10:46:38 +10:00
Josh Henderson 2b20dcf128 AP_InertialSensor: move GYR & ACC logging functions to Logging.cpp 2021-05-01 14:15:58 +10:00
Josh Henderson 9792202810 AP_InertialSensor: Privatize Logging 2021-04-29 19:19:12 +10:00
Andrew Tridgell b3ed4f4b12 AP_InertialSensor: fixed handling of more than 3 accel/gyro instances 
allows for first 3 to work without a panic
 2021-04-13 09:36:52 +10:00
Andrew Tridgell dcf6bcea6e AP_InertialSensor: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Tatsuya Yamaguchi 2c95093d36 AP_InertialSensor: fix temperature sensor on LSM9DS0 2021-03-16 12:09:19 +11:00
Peter Barker 2b0bf45891 AP_InertialSensor: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Pierre Kancir 67540dc5bb AP_InertialSensor: fix example 2021-03-03 18:07:38 +11:00
Pierre Kancir c8a7ab1a75 AP_InertialSensor: fix example 2021-03-03 18:07:38 +11:00
Andrew Tridgell bf999f701f AP_InertialSensor: fixed ICM-20602 y offset bug 
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.

The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
 2021-02-24 18:18:37 +11:00
Andrew Tridgell 4cddf37984 AP_InertialSensor: log unexpected register changes 
when the register checking code finds an error we will log what
register changed and to what value
 2021-02-24 18:18:37 +11:00
Andrew Tridgell 85ef6b7ac6 AP_InertialSensor: added optional logging of register changes 2021-02-24 18:18:37 +11:00
Andrew Tridgell 25dd08a1fd AP_InertialSensor: added force_save_calibration() 2021-02-15 07:24:40 +11:00
Peter Barker 3da156e358 AP_InertialSensor: prevent nullptr dereference in SITL 2021-02-05 15:02:12 +11:00
Andrew Tridgell 0535c4f592 AP_InertialSensor: default TMAX to 70 
if user forgets to set this then better to just timeout rather than
calibrating over a small range
 2021-01-27 09:49:35 +11:00
Andrew Tridgell bdb364d461 AP_InertialSensor: save the accelerometer ID parameters 
this is needed for factory accel cal
 2021-01-27 09:49:35 +11:00
Andrew Tridgell 2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell 6c8a57c2d7 AP_InertialSensor: review fixes 2021-01-21 13:09:21 +11:00
Andrew Tridgell 3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell b12a663f7a AP_InertialSensor: apply accel scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell 73ddde3629 AP_InertialSensor: changes for new SITL IMU params 2021-01-21 13:09:21 +11:00
Andrew Tridgell 5e60fac37e AP_InertialSensor: remove unused variable 2021-01-21 13:09:21 +11:00
Andrew Tridgell 285b53fe07 AP_InertialSensor: use vector polyfit 
this reduces memory usage
 2021-01-21 13:09:21 +11:00
Andrew Tridgell ffe20f7958 AP_InertialSensor: use a fixed reference temperature of 35C 
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
 2021-01-21 13:09:21 +11:00
Andrew Tridgell dc58b0b950 AP_InertialSensor: changes from review feedback 
thanks Sid!
 2021-01-21 13:09:21 +11:00
Andrew Tridgell c9a83c8127 AP_InertialSensor: added INS_TCAL_OPTIONS 
make persistent params optional, and allow save of accelcal
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 1ddc21c9bb AP_InertialSensor: support saving tempcal params persistently 2021-01-21 13:09:21 +11:00
Andrew Tridgell 8caea96ab1 AP_InertialSensor: start auto-learning at boot 
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 7cb7ad3636 AP_InertialSensor: fixed build error 2021-01-21 13:09:21 +11:00
Andrew Tridgell 2e9f61fe49 AP_InertialSensor: fixed IMU index display in msgs 
start at 1 for users
 2021-01-21 13:09:21 +11:00
Andrew Tridgell d5b511f4a0 AP_InertialSensor: fixed start timer for temperature in SITL 
when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 30e55d8dfc AP_InertialSensor: cope with user changing TMAX while calibrating 2021-01-21 13:09:21 +11:00
Andrew Tridgell e2e97c67ce AP_InertialSensor: catch user attempt to change TMAX during cal 2021-01-21 13:09:21 +11:00
Andrew Tridgell 3fb720354d AP_InertialSensor: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell cc3579ea5d AP_InertialSensor: change TCAL sampling to be even in temperature 2021-01-21 13:09:21 +11:00
Andrew Tridgell fc0f8b990a AP_InertialSensor: added online learning of temp cal 
use INS_TCAL1_ENABLE=2 to start learning
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 6f6f89e5aa AP_InertialSensor: enable temperature sensor on LSM9DS0 
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 4bdf506d10 AP_InertialSensor: apply 1e-5 scale factor 
this keeps the params in a reasonable range for parameter editors
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 0f6f6bac6b AP_InertialSensor: expose TCal class for use in SITL 2021-01-21 13:09:21 +11:00
Andrew Tridgell 7921e042f1 AP_InertialSensor: added IMU temperature calibration support 
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
 2021-01-21 13:09:21 +11:00
Peter Barker 239b09fb34 AP_InertialSensor: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Andrew Tridgell 957842f7eb AP_InertialSensor: added support for v3 Invensense sensors 
starting with ICM-40609, ICM-42688 and ICM-42605
 2021-01-11 14:43:35 +11:00
Andrew Tridgell b74e5c0e2f AP_InertialSensor: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell 4f176c25de AP_InertialSensor: relax IMU wait time for low loop rates 
allow for waiting for all IMUs for up to 1/3 of the loop time
 2021-01-05 21:13:12 +11:00
murata 219dc2e7da AP_InertialSensor: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
Andy Piper 3db6203fb6 AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention 2020-12-23 18:03:12 +11:00
Peter Barker 72acc8bfc8 AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt 2020-11-29 13:21:53 +11:00
Peter Barker 2437cf8a24 AP_Logger: use instance number for IMU logging 2020-11-11 19:31:53 +11:00
Andrew Tridgell f6c45c3bcd AP_InertialSensor: cope with INS_MAX_INSTANCES < 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell e8f21d3458 AP_InertialSensor: fixed rpm indexing for vtol motors 
quadplane vtol motors start at 1
 2020-10-28 14:20:44 +11:00
Michael du Breuil c86dcf91d6 AP_InertialSensor: Run vibration monitoring on all instances 2020-10-24 09:54:04 +11:00
Peter Barker 02c9aa2ae2 AP_InertialSensor: remove unused define 2020-10-20 11:24:34 +11:00
mhefny 02daa4c3ec AP_InertialSensor: update L3G4200D driver 2020-10-06 09:27:26 -07:00