ed36ae9ef7
AP_InertialSensor: MPU6000: add rotation for minlure
2015-10-22 12:04:52 +11:00
30a50b362f
AP_InertialSensor: remove check for vibe check
...
For all supported boards we have vibration check.
2015-10-21 10:05:17 +11:00
db62e55753
AP_InertialSensor: remove check for max INS instances
...
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:17 +11:00
a147b97d2b
AP_InertialSensor: remove check for HAL_CPU_CLASS
...
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
INS_MAX_INSTANCES, INS_MAX_BACKENDS and INS_VIBRATION_CHECK constant for
all supported boards.
2015-10-21 10:05:17 +11:00
4480956c68
AP_InertialSensor: MPU6000: remove dead code for !FAST_SAMPLING
...
The code with ifdef for !FAST_SAMPLING is bit rotting and the example
for AP_InertialSensor is currently broken for this case. Instead of
adding more ifdefs, remove the legacy implementation for !FAST_SAMPLING
since we don't support it anymore.
Reported by Grant:
/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:
In member function 'void AP_InertialSensor_MPU6000::_accumulate(uint8_t*,
uint8_t)':
/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:776:20:
error: no match for 'operator+=' (operand types are 'Vector3l {aka
Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
_accel_sum += accel;
/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:777:19:
error: no match for 'operator+=' (operand types are 'Vector3l {aka
Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
_gyro_sum += gyro;
2015-10-21 10:05:17 +11:00
191cff2035
AP_InertialSensor: remove unnecessary includes from examples
2015-10-21 09:16:11 +11:00
ec52df991c
build: compile only the HAL files needed by the board
...
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
...
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
3b480bd6ec
AP_InertialSensor: fix order of accelerometer corrections
2015-10-21 08:22:36 +11:00
b751d2bb18
InertialSensor: remove gyro cal on first arming
2015-10-19 12:00:38 +09:00
30610fb17d
AP_InertialSensor: Remove misspelled and unused method
2015-10-16 10:16:24 +11:00
daa32725ac
AP_InertialSensor: Fix typo: auxiliar to auxiliary
2015-10-16 10:16:24 +11:00
b37c52f7a3
AP_InertialSensor_MPU6000: Add heat support
...
Send current tempertaure to the Heater so the control loop sets the correct
temperature to the imu
2015-10-06 15:21:39 +11:00
1aadcdf538
AP_InertialSensor_MPU6000: read temperature
...
Read temperature as part of the normal burst. This is not very costly since it
is part of the burst read in i2c and already read in spi.
It is meant to be used for imu heating.
The filter is set to 1Hz on temperature because of the inherent inertia of
heating systems.
2015-10-06 15:21:39 +11:00
d3e8e8fd43
AP_InertialSensor: disable backend's copy constructor
...
We never want to copy a backend. This protects us of accidentally using
a copy instead of a reference for all subclasses.
2015-10-01 20:57:22 -03:00
a58bb0fc32
AP_InertialSensor: MPU6000: Fix using copy instead of reference
...
In 294298e
2015-10-01 20:57:22 -03:00
840f583d23
AP_InertialSensor: Add MPU9250 multiple instance support
2015-09-24 13:11:38 +10:00
294298ea34
AP_InertialSensor: use method for downcast
...
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
2015-09-23 09:01:29 +10:00
ada26082ca
InertialSensor: remove INS start style from example sketch
2015-09-21 17:06:20 +09:00
ec82aa68c4
InertialSensor: add GYR_CAL to control when gyro calibration occurs
2015-09-21 17:06:16 +09:00
1421cf600a
AP_InertialSensor: added support for raspilot
2015-09-14 14:22:15 +10:00
6d762f62b3
AP_InertialSensor: ERLEBOARD legacy support
...
This config referred to the legacy Erle-Board
https://erlerobotics.com/blog/product/erle-board/
The configuration is preserved to support the
existing boards.
2015-09-09 10:31:55 +10:00
305ec7b08a
AP_InertialSensor: MPU6000: publish sample rate
...
So that vibration and clipping may be calculated.
2015-09-07 11:14:43 +10:00
eb480e959c
AP_InertialSensor: MPU9250: publish sample rate
...
That enables the default vibration calculation.
2015-09-07 11:14:42 +10:00
a76eb9c15f
AP_InertialSensor: MPU9250: use macros for sample rate
...
Instead of hardcoded values.
2015-09-07 11:14:42 +10:00
a0b1337646
AP_InertialSensor: PX4: publish sample rate
...
By publishing the sample rate, the vibration and clipping are magically
calculated.
2015-09-07 11:14:42 +10:00
77a4f10d89
AP_InertialSensor: PX4: don't call calc_vibration_and_clipping()
...
That calculation will be unified.
2015-09-07 11:14:42 +10:00
6aa973dd47
AP_InertialSensor: Backend: calculate vibration and clipping on new raw sample
...
This is a good way of letting each implementation easily calculate vibration
and clipping: all they need to do is publish their sample rate and they don't
need to worry about the call for calculation.
2015-09-07 11:14:42 +10:00
e06627dfcb
AP_InertialSensor: Backend: add hook for new raw accel samples
...
That hook will eventually do necessary things when a new accelerometer raw
sample arrives (like calculating vibration levels).
2015-09-07 11:14:42 +10:00
5329e63742
AP_InertialSensor: allow publishing sample rate to frontend
...
That information will be used for a "centralized" vibration calculation.
2015-09-07 11:14:42 +10:00
ac3a677626
AP_InertialSensor: remove param rotate_and_correct from publish functions
...
Once that parameter is always false.
2015-09-07 11:14:42 +10:00
a56c8deaee
AP_InertialSensor: Oilpan: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:42 +10:00
fc38691e0b
AP_InertialSensor: MPU9250: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:42 +10:00
b844b220c3
AP_InertialSensor: MPU9150: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:42 +10:00
487135afa2
AP_InertialSensor: MPU6000: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:42 +10:00
f946f48dce
AP_InertialSensor: LSM9DS0: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:41 +10:00
0963159bb8
AP_InertialSensor: Flymaple: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:41 +10:00
2ea8f1de3f
AP_InertialSensor: L3G4200D: apply correction on each new sample
...
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:41 +10:00
a66a201bf5
AP_Compass: HMC5843: Add support for MPU6000 auxiliary bus
...
Allow HMC5843 to be on MPU6000's auxiliary bus.
2015-08-28 12:39:09 +10:00
c66800dfec
AP_InertialSensor: add singleton interface
...
In order to allow other libraries to use the InertialSensor we need a
way to let them to get the only instance of InertialSensor. The
conventional way to do a singleton would be to let the constructor
private and force it to be instantiated from the get_instance() method.
Here however we just call panic() on the constructor if there's already
an instance alive. This allows us to let the vehicles as is. Later we
can change it so they call the get_instance() method instead.
2015-08-28 12:39:08 +10:00
565c18603d
AP_InertialSensor: MPU6000: export auxiliary bus
2015-08-28 12:39:08 +10:00
caae933c28
AP_InertialSensor: Add support for auxiliary buses
...
Add an AuxiliaryBus class that can be derived for specific
implementations in inertial sensor backends. It's an abstract
implementation so other libraries can use the auxiliary bus exported. In
order for this to succeed the backend implementation must split the
initialization of the sensor from the actual sample collecting, like is
done in MPU6000.
When AP_InertialSensor::get_auxiliary_bus() is called it will execute
following steps:
a) Force the backends to be detected if it's the first time it's
being called
b) Find the backend identified by the id
c) call get_auxiliary_bus() on the backend so other libraries can
that AuxiliaryBus to initialize a slave device
Slave devices can be used by calling AuxiliaryBus::request_next_slave()
and are owned by the caller until AuxiliaryBus::register_periodic_read()
is called. From that time on the AuxiliaryBus object takes its ownership.
This way it's possible to do the necessary cleanup later without
introducing refcounts, that we don't have support to.
Between these 2 functions the caller can configure the slave device by
doing its specific initializations by calling the passthrough_*
functions. After the initial configuration and register_periodic_read()
is called only read() can be called.
2015-08-28 12:39:08 +10:00
3cb6f391d4
AP_InertialSensor: MPU6000: split detection and initialization
2015-08-28 12:39:08 +10:00
7d9579c5d8
AP_InertialSensor: identify backend with ID
...
Identify backend with an id, allowing other libraries to connect to
them. This is different from the _product_id member because it
identifies the sensor, not the board the sensor is in, which is
meaningless for our use case.
2015-08-28 12:39:07 +10:00
22c787058e
AP_InertialSensor: allow to split detection and initialization
...
This allows backends to have a separate detection and initialization
logic. It doesn't change any backend yet and with the current code
there's no change in behavior either. This only allows
AP_InertialSensor::_detect_backend() to be called earlier so
AP_InertialSensor object can be used by other libraries. If it's not
called, later on AP_InertialSensor::init() will detect and start all
backends.
2015-08-28 12:39:07 +10:00
f7954ee885
AP_InertialSensor: MPU6000: allow to read generic block
...
We were able to read only the block of registers that are part of the
data output from accelerometer/gyroscope. In order to support reading
the external sensors we need support for reading a generic block of
registers.
2015-08-28 12:39:07 +10:00
b5da8ad61f
AP_InertialSensor: MPU6000: rename method
...
We're reading the sensor data available in MPU6000 so name the method
accordingly, which is also the same name used in MPU9250.
2015-08-28 12:39:07 +10:00
d9a4d3e777
AP_InertialSensor: MPU6000: fix leaking samples
2015-08-28 12:39:07 +10:00
f18dd17377
AP_InertialSensor: fix typos
...
resister->register and fix copy and paste error from MPU6000 to MPU925.
2015-08-28 12:39:07 +10:00
dfc35cca8b
AP_InertialSensor: update severities
2015-08-28 10:04:35 +10:00
0b1a997800
AP_IntertialSensor: don't require acceleration calibration in hil mode
2015-08-23 16:48:48 +10:00
2620a57700
AP_InertialSensor: Added is_still() check
...
very strict check that all axis are not vibrating much at all
new param: INS_STILL_THRESH used to be a vibration threshold for different platforms
// @Description: Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
2015-08-23 10:34:17 +10:00
220163e269
AP_InertialSensor: correct USE param storage index
...
USE, USE2, USE3 have 20, 21, 21 but should be 20, 21, 22
2015-08-21 11:35:37 +09:00
e5615ec349
INS: add USE parameters
2015-08-19 16:44:15 +09:00
affbd67c43
InertialSensor: add vibration monitoring of 2nd IMU
2015-08-19 16:44:12 +09:00
2c44f3e313
AP_HAL_InertialSensor: standardize inclusion of libaries headers
...
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:52 +10:00
dc455a5fd6
AP_InertialSensor: setup for MPU9250 support on PX4
2015-08-17 09:33:15 +10:00
980659d346
AP_InertialSensor: removed AVR1280 specific ifdef
2015-08-11 16:47:56 +10:00
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
69bfeaf58e
INS: accel offset parameter range desc to 3.5m/s/s
2015-08-10 10:30:34 -07:00
cf1273668e
AP_InertialSensor: refactor constructors to avoid leak
...
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.
2015-08-08 14:12:22 +10:00
c3063f0ab2
AP_InertialSensor: MPU6000: be agnostic to I2C bus/address
...
This decision is better made by the caller rather than polluting the
driver with board-specific details.
2015-08-08 14:12:22 +10:00
4d4dac867e
AP_InertialSensor: pass backend instead of pointer to function
...
Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
2015-08-08 14:12:22 +10:00
d3eebdb6aa
AP_InertialSensor: L3G4200D: add probe code
...
This driver works properly but had the initialization logic missing. Add
the support to probe it.
2015-08-08 14:12:22 +10:00
55279664c2
AP_InertialSensor: remove out of place ifdef
...
AP_InertialSensor isn't a good place to comment about board issues.
2015-08-08 14:12:21 +10:00
2e76d998df
AP_InertialSensor: remove unused enum bus_speed
...
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.
2015-08-08 14:12:21 +10:00
f3f54157be
AP_InertialSensor: fix copying wrong number of bytes
...
We should copy only the bytes we read, not the maximum number.
2015-08-08 14:12:21 +10:00
209e1924a5
AP_InertialSensor: fix whitespace usage
2015-08-08 14:12:21 +10:00
3851862f60
AP_InertialSensor: remove unused drivers
...
Nobody is using these drivers, they need to be rewritten using the
backend logic and give the false impression they are supported.
2015-08-07 20:57:49 +10:00
212898d02b
AP_InertialSensor: don't use INT_STATUS drdy to lower SPI bus speed
...
as pointed out by Lucas in PR#2604 this is probably a bad idea
2015-07-30 14:05:20 +10:00
e2eda97ec6
AP_InertialSensor: fix coverity warnings - param init in construct
2015-07-30 12:37:08 +10:00
01161135d6
AP_InitialSensor_MPU6000: compiler warning - init order
2015-07-27 10:30:17 +09:00
eda4879f3f
AP_InertialSensor: use ARRAY_SIZE macro
2015-07-21 14:25:07 +09:00
6df33dd3f4
AP_InertialSensor: fixed MPU6000_SPI bus initialisation
...
we need _spi for get_semaphore()
2015-07-10 16:46:30 +10:00
3cf952d1f8
AP_InertialSensor: add fifo support for MPU6000
...
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
...
Add the possibility to implement an i2c bus communication for the
MPU6050 on parrot bebop
2015-07-10 14:24:09 +10:00
efec7723ff
AP_InertialSensor: reset the MPU9250 chip on startup
...
Now that the initialization of MPU9250 is shared between the
AP_InertialSensor and other drivers using it as a backend, we can reset
the MPU9250 in order to put it in a known state.
2015-07-06 10:48:07 +10:00
eb4e2ac2e5
AP_InertialSensor: factor out MPU9250 initialization
...
Now we have the initialization code split in 2 parts:
1) Making sure the MPU9250 chip is alive and working: this is now in a
static function that may be called by other drivers that use MPU9250 as
backend.
2) The configuration of gyro and accel. Once the first part is completed
successfully the AP_InertialSensor_MPU9250 finishes the configuration of
the sensors it uses.
The only change in behavior here is that before we would try 25 time (5x
inside _hardware_init time 5x inside _init_sensor() that calls the first
function) to "boot the chip" and now we are doing "only" 5.
2015-07-06 10:48:07 +10:00
953bfbd3fe
AP_InertialSensor: provide static methods for spi transactions
...
Add static methods to do the SPI transactions and provide the wrapper
methods when we have an instance of the object. This is useful so these
methods can be called from other contexts when the AP_InertialSensor
hasn't been initialized yet.
2015-07-06 10:48:07 +10:00
f82344358f
AP_InertialSensor: Change BBBMINI standard orientation
2015-07-06 10:12:39 +10:00
d40b45c9ae
AP_InertialSensor: disable reset on MPU9250
...
The Compass library is initialized before the InertialSensor. AK8963 with
MPU9250 as backend already takes care of resetting MPU9250. The problem with
also resetting it in the MPU9250 initialization code is that if the reset
happens during an internal I2C transaction, the AK8963 may hang. So here we
remove the reset inside MPU9250. There still a possibility that the first
MPU9250 initialization is not successful and it resets the chip, but it's not
happening in tests.
2015-07-01 20:44:09 +03:00
ac3200fd32
AP_InertialSensor: make max_abs_offsets a single float, not a vector
2015-06-30 10:51:43 +10:00
0fcd98c804
AP_InertialSensor: disable debug on LSM9DS0
2015-06-30 10:28:05 +10:00
c168e19e73
AP_InertialSensor: fix coding style with uncrustify on LSM9DS0
...
This commit makes backend source code for LSM9DS0 comply with the configuration
files "uncrustify_cpp.cfg" and "uncrustify_headers.cfg".
2015-06-30 10:28:02 +10:00
2f2a627002
AP_InertialSensor: use runtime GPIO drdy pins numbers instead C constant macros
...
As we intend to eventually get board related parameters from a configuration
file, this commit makes the GPIO numbers for data-ready pins be instance
variables instead of from C constant macros.
Another advantage of using instance variables in this context is the
possibility of using more than one LSM9DS0.
2015-06-30 10:27:59 +10:00
0ef914adac
AP_InertialSensor: don't take SPI semaphore if not necessary on LSM9DS0
...
If the data-ready polling is done entirely on GPIO pins, it isn't necessary to
hold the semaphore before we now we have data to consume. In that case, only
take the SPI semaphore if there's new data available.
On the other hand, if at least one SPI transaction is done in order to check
for new data, then it makes sense to take the semaphore beforehand.
2015-06-30 10:27:57 +10:00
a82ab25ed3
AP_InertialSensor: use bitfield macros instead of literal values on LSM9DS0
...
This commit makes accel and gyro initialization routines use bitfield macros
instead of hardcoding the literal value when wrinting on registers. That is
less prone to typos and a lot of times self-explanatory. Also, due to the
latter, the long comments explaining each register field were removed (any
detail can be checked on the datasheet).
2015-06-30 10:27:54 +10:00
1572324315
AP_InertialSensor: add macros for LSM9DS0 registers' bitfields
2015-06-30 10:27:51 +10:00
033409c629
AP_InertialSensor: set max abs calibration offset for LSM9DS0
2015-06-30 10:27:48 +10:00
42eb73a1d1
AP_InertialSensor: add LSM9DS0 backend
...
This adds the backend driver for LSM9DS0. This implementation is based on the
legacy driver coded by Víctor Mayoral Vilches (under folder LSM9DS0) and makes
some necessary adaptations and fixes in order to work properly. The legacy
driver folder was removed.
2015-06-30 10:27:46 +10:00
c340e072f2
AP_InertialSensor: use accel instance max abs offset instead of a constant value
...
The calibration on LSM9DS0 was giving offsets between 4.0 and 4.2 on x-axis and
around 3.6 on y-axis. It turned out that those offsets were actually right.
The maximum absolute values of calibration offset should be a sensor
characteristic rather than a constant value for all sensors.
The constant value previously used (3.5 m/s/s for all axes) is set here as a
default maximum absolute calibration offset for every instance to keep it
working.
2015-06-30 10:27:44 +10:00
c72dc9bd45
AP_InertialSensor: make single rotation on MPU9250
...
The previous implementation made some boards apply two rotations to suit
their default orientation. That was happening because there was an
unconditional rotation being done (commented as "rotate for bbone
default").
This commit makes that unconditional rotation as a default rotation
instead and adjusts the former additional rotations to be single
rotations.
2015-06-22 17:45:20 +10:00
3dad768e8b
AP_InertialSensor: log failure to initialize after max attempts on MPU9250
...
This happens for example when you are trying to use an SPI speed that's
above the one supported by the sensor or the controller.
2015-06-22 17:45:20 +10:00
587471ab54
AP_InertialSensor: disable I2C on MPU9250
...
As the datasheet says: "To prevent switching into I2C mode when using
SPI, the I2C interface should be disabled by setting the I2C_IF_DIS
configuration bit."
We also reset the sensor like PX4Firmware does for initializing the
MPU6000. See: ee1d8cd770/src/drivers/mpu6000/mpu6000.cpp (L695)
2015-06-22 17:45:20 +10:00
4eab27abe9
AP_InertialSensor: fixed logic bug in MPU6000 init
...
thanks to coverity
2015-06-20 14:53:04 +10:00
588a16dec2
AP_InertialSensor: Add Linux support for VibTest example
2015-06-18 08:48:23 +10:00
4fe092fead
AP_InertialSensor: panic on bad gyro or accel sample rates
2015-06-17 15:01:23 +10:00
d3b85eb792
AP_InertialSensor: use driver supplied sample rate
...
this will work with a wider range of sensors
2015-06-17 14:44:19 +10:00
e91bfdfc1c
AP_InertialSensor: fixed VibTest example build
2015-06-17 14:15:58 +10:00
bc0ae630a1
AP_InertialSensor: always provide delta_velocity and delta_angles
...
this makes the NavEKF code simpler
2015-06-17 13:10:26 +10:00
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
9d81856580
InertialSensor: fix name of get_delta_velocity method
2015-06-17 12:46:54 +10:00
727be87d84
AP_InertialSensor: support HIL functions for delta_velocity and delta_angles
2015-06-16 09:53:55 +10:00
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
0db7acc628
InertialSensor: calc vibration and accel clipping
2015-06-12 21:36:22 +09:00
214b61bfc0
AP_InertialSensor: fixed example build
2015-06-01 17:35:15 +10:00
7f7113c1de
AP_InertialSensor: convert example from .pde to .cpp
2015-06-01 17:07:04 +10:00
6a2c585632
AP_InertialSensor: fixed build warnings
2015-05-30 22:51:19 +10:00
8be9e99fad
AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages
2015-05-27 11:54:17 +10:00
f489f6b696
AP_InertialSensor: use 64-bit timestamps in dataflash logs
2015-05-27 11:54:17 +10:00
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
aaa35bd1ec
AP_InertialSensor: using atan2f() gives more accurate euler corrections
...
thanks to Jon and Paul!
2015-05-16 08:19:18 +10:00
9e723ef907
AP_InertialSensor: added calibrate_trim() function
...
used for redoing trim calculation
2015-05-16 07:56:34 +10:00
b564ba0868
AP_InertialSensor: fixed AHRS_TRIM calculation again
2015-05-16 07:56:33 +10:00
159599879f
AP_InertialSensor: simplify and correct AHRS_TRIM computation
2015-05-15 21:03:03 +10:00
3f8b832075
InertialSensor: fix example sketch
2015-05-13 10:13:51 +09:00
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
8bf2baef70
AP_InertialSensor: fixed primary accel/gyro in replay
2015-05-11 11:19:11 +10:00
afc9812d0b
AP_InertialSensor: update VibTest after moving messages info DataFlash
2015-05-07 13:25:37 +10:00
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
2015-05-07 12:08:30 +10:00
f5140e25b0
AP_InertialSensor: updated VibTest for latest PX4 interfaces
2015-05-07 10:51:52 +10:00
089e63f987
AP_InertialSensor: fixed PSTR handling
...
must use PSTR on code compiled for AVR
2015-05-05 13:54:00 +10:00
31693e332e
AP_InertialSensor: use non-PSTR printf
...
this is not built on AVR
2015-05-05 13:48:34 +10:00
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
2015-05-05 13:27:06 +10:00
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
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
820199635b
AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
3cb2221315
AP_IntertialSensor: double to float warning
2015-05-05 13:26:50 +10:00
ef527d9daa
AP_InertialSensor: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
6773c0b232
AP_InertialSensor: default primary accel and gyro
2015-05-01 16:37:33 +09:00
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
2015-05-01 16:37:15 +09:00
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
2015-05-01 16:37:14 +09:00
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
a4b8575432
InertialSensor: fix compile warnings re float constants
2015-04-24 14:03:49 +09:00
13ee34c58a
AP_InertialSensor: MPU9150 fix compiler warnings
2015-04-14 11:14:48 +10:00
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
45e016ea5b
AP_InertialSensor: check for zero delta_velocity dt
2015-04-03 15:10:47 -07:00
b306d7a356
AP_InertialSensor: accel cal sample for 400ms instead of 1s
2015-04-03 14:54:19 -07:00
1e1d8efa22
AP_InertialSensor: use expected update rate for accel cal sampling
2015-04-03 14:54:17 -07:00
bd84328440
AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample
2015-04-03 14:54:15 -07:00
b2b42e081a
AP_InertialSensor: use delta_velocity/dt for calibration if available
2015-04-03 14:54:10 -07:00
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
2015-04-03 14:54:06 -07:00
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
23272e4013
AP_InertialSensor: added get_temperature() interface
...
this will allow logging of individual temperature sensors
2015-03-17 13:32:54 +11:00
103bb2a08d
AP_InertialSensor: Fix orientation MPU6000 PXF
2015-03-16 09:50:51 +11:00
cf2445dc97
AP_InertialSensor: prevent nested accelerometer calibration
2015-03-15 15:22:59 +11:00
8a99cab535
AP_InertialSensor: load only HIL backend for hil_mode
2015-03-13 22:52:55 +11:00
520c7c1306
AP_InertialSensor: always allow for AK8963 on MPU9250
2015-03-13 18:46:17 +11:00
60b8736cf1
AP_InertialSensor: use right AK8963 compass defines
2015-03-13 18:46:15 +11:00
808c33d0a7
AP_InertialSensor: support both MPU9250 and MPU9255
...
seems to be just different WHOAMI register
2015-03-13 13:26:49 +11:00
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
a1d43e39e0
AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz()
2015-03-12 12:50:31 +11:00
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
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
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
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
ea49d1cd39
AP_InertialSensor: removed unused variable
2015-03-12 12:50:30 +11:00
e6a4b9f68c
AP_InertialSensor: check accel health during accel cal
2015-03-12 12:50:29 +11:00
875339f12a
AP_InertialSensor: try to avoid a compiler fault in travis
2015-03-12 12:50:29 +11:00
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
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
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
bc655ff0cc
AP_InertialSensor_PX4: add optional debug
2015-03-12 12:50:28 +11:00
074ee49cd0
AP_InertialSensor_PX4: interleave accel and gyro samples by time
2015-03-12 12:50:28 +11:00
addf80b669
AP_InertialSensor_PX4: explicitly configure sensors, publish deltas
2015-03-12 12:50:27 +11:00
b5131b7b64
AP_InertialSensor: add coning.py example
2015-03-12 12:50:27 +11:00
2a547f329b
AP_InertialSensor: allow backends to publish delta velocities and angles
2015-03-12 12:50:27 +11:00
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
2015-03-12 12:50:27 +11:00
502446d821
AP_InertialSensor: use LowPassFilter2pVector3f
2015-03-12 12:50:27 +11:00
5f26a36060
INS: protect against two calibrations running at the same time
2015-03-09 17:58:38 +11:00
f9c6e35d19
INS: add calibrating method
2015-03-09 17:58:38 +11:00
b0e7990c90
INS: set gyro_cal_ok only after completing calibration
2015-03-09 17:58:37 +11:00
aec7907571
AP_InertialSensor: updated comment on accel check in gyro cal
2015-03-09 17:58:36 +11:00
494e909703
AP_InertialSensor: ensure accel cal completion messages get through
2015-03-09 07:36:50 +11:00
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
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
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
b650d39786
InertialSensor: remove product_id set to zero
2015-02-21 09:14:33 +09:00
9b2d44d6ed
AP_InertialSensor: use delay_microseconds_boost()
...
this gives much more consistent timing for PX4
2015-02-16 12:19:13 +11:00
f54d799bff
AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues
2015-02-16 10:12:10 +11:00
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
4537acb898
AP_InertialSensor: change for new PX4 device paths
2015-02-14 12:25:43 +11:00
460b434708
AP_InertialSensor: add apm1 oilpan support
2015-02-11 18:22:44 +11:00
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
dae32984f1
AP_InertialSensor: use PX4 library for VRBRAIN boards.
2015-02-02 08:43:59 +11:00
731329fc55
AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN
2015-02-02 08:43:58 +11:00
6a93148b92
AP_InertialSensor: added library for VRBRAIN Inertial Sensor
2015-02-02 08:43:58 +11:00
6e62e1ca7b
AP_InertialSensor: make calibrated() const
2015-02-01 14:13:54 +11:00
b43dc3bdfb
INS: fix example sketch
2015-01-28 17:15:42 +09:00
8b59c72eb9
AP_InertialSensor: cope with 2 IMUs in SITL
2015-01-20 19:47:45 +11:00
b3ce56d34d
AP_InertialSensor: fixed 2nd IMU in Replay
...
this makes for much more accurate replay runs
2015-01-20 09:20:47 +11:00
fa950a735e
AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black
2015-01-12 21:36:40 +13:00
1b3c3c754d
AP_InertialSensor: use correct ifdef for AK8963
2015-01-07 11:58:05 +11:00
f7f9cd2173
AP_InertialSensor: prevented MPU9250 from disabling I2C slaves
2015-01-07 08:41:13 +11:00
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
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
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
7bb56e50aa
AP_InertialSensor: fixed example build
2014-11-28 10:40:19 +11:00
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
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
986b7bf894
AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers
2014-11-11 17:06:22 +11:00
3518cf5480
AP_InertialSensor: fixed default MPU9250 orientation for NavIO
2014-11-04 16:18:35 +11:00
ad7c612334
AP_InertialSensor: fixed SITL with new HIL code
2014-10-24 15:05:44 +11:00
aeaa3c1e04
AP_InertialSensor: fixed build for VRBrain
2014-10-24 12:10:41 +11:00
40e83ceb1f
AP_InertialSensor: simplify next sample time calculations
...
this makes the calculation much clearer
2014-10-24 12:10:40 +11:00
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
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
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
bc5d79118d
AP_InertialSensor: updated comments
2014-10-24 12:10:39 +11:00
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
586fa9a816
AP_InertialSensor: added product_id support
...
fill in parameter from first backend
2014-10-24 12:10:39 +11:00
520727e5bd
AP_InertialSensor: fixed example build
2014-10-24 12:10:39 +11:00
dbcd02f2be
AP_InertialSensor: converted MPU9150 driver
...
untested conversion
2014-10-24 12:10:38 +11:00
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
2014-10-24 12:10:38 +11:00
a42af0f2f1
AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN
2014-10-24 12:10:38 +11:00
3ce7667e5a
AP_InertialSensor: tidy up MPU6000 driver
2014-10-24 12:10:37 +11:00
2d47a07480
AP_InertialSensor: ported L3G4200D driver to new API
2014-10-24 12:10:37 +11:00
deafcd6ddc
AP_InertialSensor: improved timing in all drivers
2014-10-24 12:10:37 +11:00
ff6d87f145
AP_InertialSensor: minor tidy up for HIL driver
2014-10-24 12:10:37 +11:00
85686c22ec
AP_InertialSensor: converted the APM1/Oilpan driver to new API
2014-10-24 12:10:37 +11:00
dcef9bb3b8
AP_InertialSensor: converted the MPU9250 driver to new API
2014-10-24 12:10:37 +11:00
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
2014-10-24 12:10:37 +11:00
ec11417705
AP_InertialSensor: converted HIL backend, which gets SITL working
2014-10-24 12:10:36 +11:00
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
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
0803d79701
INS: param descriptions for ACC2, GYR2
2014-09-27 21:05:33 +09:00
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
50ae5b2519
InertialSensor: reorder .cpp file to match .h
...
No functional changes
2014-09-03 11:19:36 +09:00
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
5c9e5fbc11
AP_InertialSensor: removed use of hrt_absolute_time()
2014-08-20 09:10:24 +10:00
a14f8dbd0a
AP_InertialSensor_MPU9250: use micros64() and millis64()
2014-08-20 08:02:34 +10:00
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
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
532e9aace4
AP_InertialSensor: fixed timer bug in HIL sensors
2014-08-19 20:03:33 +10:00
12239de00d
AP_InertialSensor: fix data_ready return for L3GD20
2014-08-19 10:14:20 +10:00
7286e7acd2
AP_InertialSensor: fixed build errors on APM2
2014-08-19 10:08:17 +10:00
50068a7c6a
AP_InertialSensor: fixed default orientation for PXF board MPU9250
2014-08-19 10:08:16 +10:00
5e5319e23b
AP_InertialSensor: MPU9250 cleaning
2014-08-19 10:08:16 +10:00
df1de4efd6
AP_InertialSensor: Driver added for the LSM303D
2014-08-19 10:08:15 +10:00
8968647873
AP_InertialSensor: INS_generic example, add support L3GD20
2014-08-19 10:08:15 +10:00
0f908a8ccd
HAL_Linux: Add L3GD20 to the AP_InertialSensor header
2014-08-19 10:08:15 +10:00
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
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
51f40fe3d6
INS: add accessor for mpu6k filter
2014-08-14 11:47:23 +09:00
0e7cbd28c8
INS_HIL: init members to resolve compiler warnings
2014-08-14 11:27:32 +09:00
24251a7e12
AP_InertialSensor: fixed example build
2014-08-13 21:48:35 +10:00
984064f3d3
AP_InertialSensor: fixed example build
2014-08-13 18:46:44 +10:00
34da221c3d
AP_InertialSensor: Use MPU9250 DRDY pin only on boards that support it
2014-08-12 22:13:00 +10:00
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
1d4d848300
AP_InertialSensor: fixed a build warning
2014-08-08 13:48:03 +10:00
ed6ab5f1d3
AP_InertialSensor: use bool for blocking_read()
...
uint8_t return was confusing
2014-08-07 13:09:17 +10:00
b4c0e1215b
AP_InertialSensor: Use return value of blocking_read to handle calibration timeouts
2014-08-07 13:04:18 +10:00
cc735a4200
AP_InertialSensor: some more debug info for VibTest
2014-07-31 12:48:30 +10:00
f7b01a6f3f
AP_InertialSensor: avoid integer underflow in mavlink txspace check
2014-07-27 22:18:52 +10:00
662276597a
AP_InertialSensor: fixed example build
2014-07-25 17:52:14 +10:00
79f453dfd3
AP_InertialSensor: use LSM9DSO_AM device
2014-07-19 13:23:54 +10:00
6baedbda1d
AP_InertialSensor: add empty virtual destructor
2014-07-16 14:56:56 +09:00
a09f7b9198
AP_InertialSensor_MPU6k: init members to reduce compiler warnings
2014-07-16 14:40:55 +09:00
c5a03ea18e
AP_InertialSensor: init members to reduce compiler warnings
2014-07-16 14:40:53 +09:00
85fc72c57c
AP_InertialSensor: VRBRAIN added 3th inertial sensor
2014-07-15 20:42:15 +10:00
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
5a170c6343
AP_InertialSensor: added INS_generic test
2014-07-14 09:44:36 +10:00
d1ba78002d
AP_InertialSensor: added paranoid check for DRDY pin
2014-07-14 09:44:36 +10:00
6f9965cc22
AP_InertialSensor: fixed setup of DRDY pin on MPU9250
2014-07-14 09:44:36 +10:00
6a6dbe5790
AP_InertialSensor: added check for WHOAMI on MPU9250
2014-07-14 09:44:35 +10:00
abb53eb9a2
AP_InertialSensor: simplify using HAL board subtypes
2014-07-14 09:44:35 +10:00
848b563fc3
AP_InertialSensor: rotate acccel/gyro for PXF
2014-07-14 09:44:34 +10:00
ea188528fc
AP_InertialSensor: fixed build errors for LSM9DSO
2014-07-14 09:44:34 +10:00
2982fc029c
AP_InertialSensor_LSM9DS0: Fix _dump_registers method
2014-07-14 09:44:34 +10:00
feedc40f72
AP_InertialSensor_LSM9DS0: Move LSM9DS0_DEBUG flag to the header
2014-07-14 09:44:34 +10:00
297bb52ced
AP_InertialSensor: added MPU9250 header
2014-07-14 09:44:34 +10:00
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
3ed4f82cb0
AP_InertialSensor: fixed DRDY include for Linux
2014-07-14 09:44:33 +10:00
06b6d7aaf0
AP_InertialSensor: fixeup DRDY pin for different boards
2014-07-14 09:44:33 +10:00
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
0fff8df491
AP_InertialSensor: fix LSM9DS0 test code
2014-07-14 09:32:30 +10:00
bb5de8a6a1
AP_InertialSensor_LSM9DS0: Fix the CS.
2014-07-14 09:29:45 +10:00
ad3a3f9366
AP_InertialSensor_MPU6000: Fix the CS.
2014-07-14 09:29:45 +10:00
aa60a89cda
AP_InertialSensor_MPU9250: Fix SPI CS.
2014-07-14 09:29:45 +10:00
bae84e2942
AP_InertialSensor: Add missing library to test example.
2014-07-14 09:29:36 +10:00
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
eb95130441
AP_InertialSensor_MPU9250: remove legacy CS.
2014-07-14 09:29:18 +10:00
5e7e28a83e
AP_InertialSensor_MPU9250.cpp: Update the DRDY pin.
2014-07-14 09:29:18 +10:00
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
d9cb29ea8b
AP_InertialSensor_MPU6000: Correct DRDY pin.
2014-07-14 09:29:18 +10:00
df14318bbd
AP_InertialSensor_L3G4200D: Clock-based wait_for_sample() impl.
2014-07-14 09:29:08 +10:00
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
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
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
d65aefbef5
AP_InertialSensor_MPU6000: Fix the test code so that compiles.
2014-07-14 09:02:47 +10:00
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
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
ab7e96b9de
AP_InertialSensor: updates for ERLE board type
2014-07-14 08:51:44 +10:00
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
7e04b5d1f1
INS: calibrated method checks all accelerometers
2014-07-13 22:05:21 +09:00
d325f630e5
VibTest: added sample timing to console output
2014-07-09 12:12:23 +10:00
863e7a5f93
VibTest: fixed array bounds error
2014-07-09 08:11:52 +10:00
2c8240dbb4
VibTest: fixed gyro timestamps in logs
...
it was using the accel timestamps
2014-07-09 08:10:09 +10:00
d50d5b8f24
VibTest: fixed sample count output on console
2014-07-08 10:59:30 +10:00
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
ca12592448
AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk
...
this supports FMUv3
2014-06-30 07:58:27 +10:00
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
8f552d5758
VRBRAIN: Changed the management of VirtualRobotix's boards.
2014-06-19 11:27:38 +02:00
4c43cd9775
AP_InertialSensor: fixes for HAL_GPIO_*
2014-06-02 10:42:35 +10:00
65fd25fb5a
AP_InertialSensor: fixed example build
2014-05-18 08:08:19 +10:00
8533aecf18
AP_InertialSensor: fixed example build
2014-05-16 21:24:25 +10:00
086142580a
AP_InertialSensor: added VibTest sketch
...
logs all accel data at high rate to SD card
2014-05-15 21:14:21 +10:00
06744ea7d2
AP_InertialSensor: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
2763393908
AP_InertialSensor: fixed some compiler warnings
2014-03-24 12:52:16 +11:00
731f980327
AP_InertialSensor: fixed example build
2014-03-19 12:13:47 +09:00
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
2014-02-28 17:25:54 +11:00
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
2014-02-27 08:10:42 +11:00
6732d6c79b
AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL
2014-02-23 19:10:07 +11:00
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
33fe778cdd
InertialSensor_PX4: resolve compiler warning
2014-02-21 13:53:34 +09:00
fe0cb23733
AP_InertialSensor: fixed HIL for 400Hz INS
2014-02-19 10:29:00 +11:00
2c94a40310
AP_InertialSensor: AP_InertialSensor_Flymaple Remove unnecessary
...
comment
2014-02-17 05:56:37 +11:00
dd6abb49a9
AP_InertialSensor: AP_InertialSensor_Flymaple::healthy() was required after
...
all.
2014-02-17 05:56:37 +11:00
0a43cf8c5c
AP_InertialSensor: AP_InertialSensor_Flymaple removed redundant definition of
...
healthy().
2014-02-17 05:56:37 +11:00
f7279aa13f
AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health
...
and get_accel_health.
2014-02-17 05:56:37 +11:00
f9d0747750
AP_InertialSensor: fixed example build
2014-02-15 06:39:35 +11:00
3617c65af7
AP_InertialSensor: make HIL treat time like PX4 does
2014-02-15 05:48:20 +11:00
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
...
allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
b7565affcd
INS: add support for 400hz for PX4
2014-02-15 05:27:33 +11:00
a95a3142e0
AP_InertialSensor: use fixed size arrays
...
apparently helps SITL build on MacOS
2014-02-08 19:32:26 +11:00
045efdb084
AP_InertialSensor: fixed example builds
2014-01-30 13:33:38 +11:00
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
68b3b31499
Param doc typo
2014-01-18 10:18:58 +09:00
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
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
a400ddeb88
INS: replace APM with vehicle in accel calibrate
2013-12-28 10:41:49 +09:00
8dd34f8bc4
AP_InertialSensor: fixed example build
2013-12-17 11:51:37 +11:00
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
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
23a112c5d5
AP_InertialSensor: reduce the number of format string warnings
2013-12-11 17:29:27 +11:00
433ad19335
AP_InertialSensor: fixed loop limits
...
stops pointless operations
2013-12-11 14:57:13 +11:00
e54fc6b8e3
AP_InertialSensor: make sure we wait for a sample before update()
2013-12-11 13:50:50 +11:00
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
2013-12-09 20:02:04 +11:00
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
d9b6f7f0f7
AP_InertialSensor: implement up to two sensors on PX4
2013-12-09 17:34:05 +11:00
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
fd9b115d01
INS: move Product ID to @User Advanced
2013-11-26 22:18:28 +09:00
71bb462ad0
AP_InertialSensor: use fabsf()
2013-11-15 10:43:10 +11:00
aef9289476
AP_InertialSensor: added INS_PRODUCT_ID values
2013-11-15 10:43:10 +11:00
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
80def01fbe
AP_InertialSensor: fixed semaphore error on startup for MPU6000
2013-11-09 11:26:50 +11:00
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
...
used to detect bad accels
2013-11-07 13:53:59 +11:00
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
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
1cd070a2e7
AP_InertialSensor: use const reference returns
...
saves some vector copies
2013-11-04 21:21:42 +11:00
f4dde44b8d
AP_InertialSensor: SITL doesn't use Oilpan code any more
2013-11-02 21:41:11 +11:00
fe6cacf081
AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp
2013-10-14 11:34:47 +10:00
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
8532e2bff8
AP_InertialSensor: fixed timing of PX4 sensor samples
2013-10-13 22:15:50 +11:00
9833900f91
AP_InertialSensor: run MPU6000 sensor register reads at 8MHz
...
run other register IO at 500kHz
2013-10-13 11:03:08 +09:00
b3af59cc0c
AP_InertialSensor: don't build L3G4200D example
2013-10-10 09:54:20 +11:00
a04c056598
AP_InertialSensor: remove unused get_last_sample_time_micros()
2013-10-10 09:54:19 +11:00
5d685385eb
AP_InertialSensor: use gyro sample count on L3G4200D
...
this gives more even timing in ArduCopter
2013-10-08 19:20:34 +11:00
6444b0bddd
AP_InertialSensor_L3G4200D: a sample is only available if gyro had a sample
2013-10-08 19:20:34 +11:00
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
c17a5e5ed1
AP_InertialSensor: added a small delay in accel calibration
...
allows threads to run on Linux
2013-10-08 11:50:54 +11:00
12af23bb7c
AP_InertialSensor: added L3G4200D example
2013-10-08 11:50:53 +11:00
1aabd7155e
AP_InertialSensor: added L3G4200D driver
...
this is for a cheap ebay 10DOF sensor
2013-10-08 11:50:53 +11:00
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
9ea1108d4e
AP_InertialSensor: Flymaple filter constructor arguments non non-zero
2013-10-04 07:21:55 +10:00
dda68bddcb
AP_InertialSensor: updates for AP_HAL::MemberProc
2013-09-30 21:06:42 +10:00
1191607036
AP_InertialSensor: enable Oilpan on Linux
2013-09-29 00:57:13 +10:00
cf726c6642
AP_InertialSensor: rename Stub to HIL
...
more consistent with other drivers
2013-09-28 22:04:15 +10:00
03036c632d
AP_InertialSensor: use new scheduler API
2013-09-28 21:24:03 +10:00
096660c4f9
AP_InertialSensor: mark flymaple as nobuild
...
won't build with build_examples.sh script
2013-09-27 16:57:13 +10:00
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
23429b6b9c
AP_InertialSensor: Flymaple now polls sensors at 800Hz. More changes to
...
come...
2013-09-27 15:45:57 +10:00
29bced05bd
AP_InertialSensor: Added examples/Flymaple for testing
2013-09-27 15:45:54 +10:00
d11f952ef1
AP_InertialSensor: Formalise and document Flymaple Gyro scaling factor
2013-09-27 15:45:52 +10:00
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
f7ba0438ef
InertialSensor: remove DMP
...
this saves 3K of flash
2013-09-27 10:43:33 +09:00
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
1ec5cbed81
AP_InertialSensor: removed SMACCM support
2013-09-26 22:38:31 +10:00
e4b5d0a3d6
AP_InertialSensor: Final Flymaple orientation fixes
2013-09-25 15:46:07 +10:00
276068356e
AP_InertialSensor: Further Flymaple orientation fixes
2013-09-25 15:46:07 +10:00
b02dbca9d4
AP_InertialSensor: fix orientation of Flymaple sensors
2013-09-25 15:46:07 +10:00
4d10a96077
AP_InertialSensor: Add flymaple support
2013-09-24 13:51:27 +10:00
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
4d2bfe1078
AP_InertialSensor: fixed another example build
2013-09-19 21:09:34 +10:00
e1aa6e3ff1
libraries: fixed examples for no flash_leds() callback
2013-09-19 18:38:28 +10:00
f8e9d48a76
AP_InertialSensor: removed the flash_leds() callback
...
AP_Notify now handles this
2013-09-19 18:32:19 +10:00
7b3a674d66
AP_InertialSensor: added set_default_filter() method
2013-09-09 19:18:52 +10:00
396c4f30d2
AP_InertialSensor_PX4: don't set QUEUEDEPTH
...
the default of 2 samples is fine
2013-09-09 18:04:40 +10:00
8b80beadc4
PX4: make FMUv2 identify itself differently
...
so we can tell which is which in logs
2013-09-09 18:04:40 +10:00
ff0f6bcd42
AP_InertialSensor: fixed example build
2013-09-07 21:03:59 +10:00
5caf2e0ea4
AP_InertialSensor: fixed example build
2013-08-30 13:01:39 +10:00
65a490c209
AP_InertialSensor: update for new notify API
2013-08-30 13:01:35 +10:00
5651bdbe3a
INS: integrate AP_Notify
2013-08-30 13:01:35 +10:00
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
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
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
c3b27629ec
AP_InertialSensor: run PX4 FMUv2 at 800Hz
...
this gives much better noise suppression
2013-08-30 13:01:33 +10:00
effc829790
INS: relax accel offset check to 3.5 m/s/s
...
One user, Dusty, has found that even with offsets of 3.1 m/s/s
successful alt hold and loiter are possible
2013-07-13 10:43:07 +09:00
20ed00dcc9
AP_InertialSensor: relax accel offset sanity check
2013-06-25 14:19:42 +09:00
c92069644d
AP_InertialSensor: fixed indent-tabs-mode
2013-05-30 09:52:12 +10:00
807dbf9786
AP_InertialSensor: fixed a build warning
2013-05-24 11:21:42 +10:00
59b6118a1d
AP_InertialSensor: fixed parameter markup
2013-05-21 17:02:13 +10:00
fefbeacf86
AP_InertialSensor: use SEVERITY_USER_RESPONSE for accel cal messages
...
thanks to the suggestion from Kevin
2013-05-09 09:28:25 +10:00
8f57b72e3f
AP_InserialSensor: fixed example build
2013-05-08 16:45:31 +10:00
2ddeaa7f4d
AP_InertialSensor: show calibration offsets for success and failure
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-05-08 16:19:06 +10:00
f3f4b7205c
AP_InsertialSensor: added support for MAVLink user interaction
...
allows APM to ask user to print enter to continue via MAVLink messages
during accel calibration
2013-05-08 16:18:40 +10:00
99d21854f9
SITL: fixed drift rate limit in simulator
2013-05-04 15:16:35 +10:00
42bca90676
INS: add calibrated check
...
Checks is the scaling vector has been updated. Required for pre-arm
checks for ArduCopter
2013-04-22 23:55:53 +09:00
17d7f1fbe5
AP_InertialSensor: make some interfaces const
2013-04-20 13:52:36 +10:00
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
2013-04-12 14:30:35 +10:00
86fe79a662
INS: updated MPU6K_FILTER parameter description
2013-04-10 00:14:53 +09:00
8d992ae615
InertialSensor: added OilPan INS example
2013-04-08 07:07:25 +10:00
af13f6795c
INS: switch to global definition of GRAVITY_MSS
...
saves 4 bytes of RAM
2013-04-05 22:57:46 +09:00
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
2013-04-05 11:48:41 +09:00
87292e0a4a
Init hil accel with gravity
2013-03-31 16:38:48 +08:00
318a831b57
INS: set default filter to 20hz for APM2.x and PX4
2013-03-01 19:35:34 +09:00
963231a19b
AHRS: fix example sketch to use roll/pitch trim
2013-02-19 18:56:09 +09:00
21de9f5f47
AP_InertialSensor: return roll and pitch trim angles
2013-02-19 12:45:44 +09:00
a63275d284
AP_InertialSensor: expand register range in MPU6000 _dump_registers()
2013-02-13 19:33:40 +11:00
4800c57fb4
Fixed cosmetic typo in user display message
...
Corrected "it's" to "its". Just one of those grammar things that drives me crazy ;-)
2013-02-06 16:34:33 -08:00
1121254606
AP_InertialSensor: added filter frequency support to PX4 driver
2013-02-07 11:20:45 +11:00
5643c371b9
AP_InertialSensor: removed unused new_data_available() and temperature() APIs
2013-02-07 10:23:37 +11:00
7b1245937c
AP_InertialSensor: always sample at 200Hz in MPU6000
...
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
6f5050a8b9
Copter: minor casting fixup for wp_distance
2013-01-27 11:27:43 +09:00
bad81a5113
AP_InertialSensor_MPU6k: remove unnecessary check of sign when receiving fifo packet from dmp
2013-01-27 11:22:39 +09:00
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
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
16d72ca160
AP_InertialSensor: update PX4 driver to use read() method
2013-01-20 22:13:20 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
d844a1ba3c
AP_InertialSensor: fixed PX4 example build
2013-01-13 21:10:53 +11:00
d7996acdf7
AP_InertialSensor: added set_board_orientation() method
2013-01-13 17:32:48 +11:00
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
2fe4656a50
Merge pull request #4 from GaloisInc/master
...
Thanks Pat!
2013-01-10 17:24:59 -08:00
910e09fc96
AP_InertialSensor_MPU6000: fix sync/async semaphore usage with new scheduler
2013-01-10 14:12:19 -08:00
dbad61816b
AP_InertialSensor: only build Oilpan driver on APM1
2013-01-10 21:01:55 +11:00
8e38ef6567
MPU6000: Flip Y and Z axes for SMACCM_HAL.
...
- The accelerometer is upside-down on the PX4FMU vs the APM2.
2013-01-09 11:19:51 -08:00
1309b7332a
MPU6000: Use signed addition when accumulating readings.
...
- Fixes very erratic accel readings on the PX4 board.
2013-01-09 11:19:51 -08:00
f48790a56e
AP_InertialSensor: poll for new data in num_samples_available()
...
this lowers the latency for new data
2013-01-09 20:31:09 +11:00
4ab1cddd15
AP_InertialSensor: ensure we always have the SPI semaphore for MPU6k
2013-01-09 20:30:20 +11:00
b39166b71a
MPU6000: fixed minor timing bug
...
if we miss a sample due to SPI contention we shouldn't update last
sample time
2013-01-07 11:07:29 +11:00
fd23f6bd33
InertialSensor: added PX4 example sketch
2013-01-04 14:26:14 +11:00
ae09b31176
AP_InertialSensor: added PX4 gyro/accel driver
2013-01-04 14:25:57 +11:00
d84ba8ef59
Use HAL suspend/resume timer procs rather than atomic.
...
- Preparation for removing begin/end atomic.
2013-01-03 17:33:13 -08:00
d808c19c10
AP_InertialSensor_MPU6000: uses new semaphores
...
* 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
e594f18b75
AP_InertialSensor: added parameter descriptions
2013-01-02 16:32:43 +09:00
374af1cd14
build: change from Arduino.mk to apm.mk
2013-01-02 17:29:37 +11:00
3f6f0b6d79
Oilpan: removed reference to DESKTOP_BUILD
2013-01-02 15:39:41 +11:00
a76aec675a
AP_InertialSensor: resolved compile warning re uninitialised variable
2013-01-02 09:18:03 +11:00
0adc4afcb5
InertialSensor: add reboot option in MPU6000 test
2012-12-27 21:29:00 +11:00
212728be34
InertialSensor: ensure MPU6000 is out of sleep mode before configuring
...
the MPU6000 starts in sleep mode, and can take a while to wakeup
2012-12-27 21:28:41 +11:00
122b8716a7
InertialSensor: added auto reset of MPU6000 on startup failure
...
this works around the problem of the MPU6000 failing to come up on DTR
reset or warm reboot
2012-12-24 07:17:03 +11:00
44ad850542
InertialSensor: latch the data ready pin high on new data
...
this ensures we don't miss a sample due to another source of delay
2012-12-23 17:46:36 +11:00
fcb09c3993
InertialSensor: fixed example app for new syntax
2012-12-23 12:49:34 +11:00
e2edad8a3f
InertialSensor: fixed last sample time in MPU6000
...
we lost this in the final work on the DTR bug
2012-12-23 08:59:35 +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
...
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
f504e2ec67
InertialSensor: removed sample rate in example
...
not needed any more
2012-12-20 15:16:43 +11:00
6437bd3a08
AP_InertialSenor MPU6000 test: fixed for user interact changes
2012-12-20 14:53:23 +11:00
9055681b3a
AP_InertialSensor: use AP_InertialSensor_UserInteract
...
* permits polymorphic user interaction, so we can plug in a
pure mavlink interface
2012-12-20 14:53:23 +11:00
a2cf47e769
AP_InertialSensor: start implementing UserInteract
...
* untested implementation in terms of BetterStream
2012-12-20 14:53:23 +11:00
bada70d871
InertialSensor: fixed example build on 1280
2012-12-20 14:53:22 +11:00
3c0440b0b4
Math: use common degrees() and radians() functions
2012-12-20 14:53:22 +11:00
7277d4934d
AP_InertialSensor: move constructor into cpp
2012-12-20 14:53:22 +11:00
b06e072c87
AP_InertialSensor: fixed example build
2012-12-20 14:52:36 +11:00
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
44f860e102
InertialSensor: fixed some compiler warnings
2012-12-20 14:52:35 +11:00
b502732249
AP_InertialSensor: rewrite basic code for spi device transactions
...
* I'm not touching that DMP stuff because I'm pretty convinced it should
instead be deprecated
2012-12-20 14:52:32 +11:00
a4f41c1d29
AP_InertialSensor: MPU6000 uses scheduler panic
2012-12-20 14:52:31 +11:00
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
2c1682f310
InertialSensor: use AP_HAL progmem
2012-12-20 14:51:39 +11:00
c064becf28
AP_InertialSensor: updates for new AP_Param API
2012-12-20 14:51:39 +11:00
475da4eca4
CONFIG_HAL_BOARD - test sketches fixed up, build all passes
2012-12-20 14:51:37 +11:00
38031edc9d
AP_InertialSensor: removed spurious init() method
2012-12-20 14:51:36 +11:00
c9a81d7de6
AP_InertialSensor: fixed sign of 16 bit SPI transfer
...
this gets accels and gyros working again
2012-12-20 14:51:36 +11:00
dbcc4fc6a5
AP_InertialSensor: variable wibble
2012-12-20 14:51:36 +11:00
9aca19415a
AP_InertialSensor: robust semaphores
2012-12-20 14:51:36 +11:00
1019fb45e7
AP_InertialSensor: remove sei in data interrupt handler
2012-12-20 14:51:36 +11:00
a4f1f6a5db
AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR
2012-12-20 14:51:28 +11:00
4acf2c8591
AP_InertialSensor: ported to AP_HAL
2012-12-20 14:51:26 +11:00
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
b4e5176e2a
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
8b5f66255e
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:35:55 +09:00
a92b7f3477
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:20:31 +09:00
3b18c57691
AP_InertialSensor: removed axis getters for accel/gyro
...
these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
5e77119377
AP_InertialSensor: fixed stub driver to work correctly with sensors HIL
2012-12-03 23:27:21 +11:00
b237c0583d
AP_InertialSensor: Added INS_MPU6K_FILTER option
...
this allows the user to select the MPU6000 filtering frequency
2012-11-30 07:15:19 +11:00
4f868e04cc
AP_InertialSensor: return the example sample count in Oilpan
2012-11-30 07:15:19 +11:00
089ae0f9f3
AP_InertialSensor: allow specification of sample rate in init() call
...
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
7ea18d5a61
AP_InertialSensor: fixed example build
2012-11-24 21:08:06 +11:00
74daf73c49
AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G
...
Note: Z offsets do tend to be larger than x and y offsets
2012-11-23 00:34:42 +09:00
11141d0af0
INS: make it possible to do accel cal on a different serial port
2012-11-21 21:41:34 +11:00
f843705da3
INS: switch to SREG = oldSREG pattern for interrupt mask/restore
2012-11-20 22:31:23 +11:00
a7e537d6c0
INS: set the acceptable calibration error equal on all axes
2012-11-20 19:28:49 +11:00
40fc0feaf9
INS: show calibration values on failure
...
this will help debug bad calibrations
2012-11-20 19:28:15 +11:00
85e050f16c
INS: get check for send_msg the right way around!
...
I broke this in my previous commit
2012-11-20 19:10:30 +11:00
fd3993287d
INS: disable accel calibration on the 1280
...
this would put us well over 128k in sketch size
2012-11-20 18:41:04 +11:00
9c811671f1
INS: make calibrate_accel() return a bool
...
this will allow APM to auto set MANUAL_LEVEL to 1
2012-11-20 18:32:27 +11:00
152c12c283
INS: fixed raw accel offset for APM1
...
we now get reasonable offset values
2012-11-20 18:32:27 +11:00
3776e6108f
INS: use vector subtraction to make code clearer
2012-11-20 18:32:27 +11:00
8ccac5da3d
AP_InertialSensor: correct typo to datasheet's filename
2012-11-20 00:37:42 +09:00
d9b4407e64
AP_InertialSensor: changes after review with Tridge.
...
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
...
add gauss-newton method of accelerometer calibration
2012-11-07 19:20:27 +09:00
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
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
921ab3fe12
ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)
2012-09-28 18:34:23 +09:00
7e544e8ead
MPU6k: save 72 bytes of memory
...
the buffer can be on the stack
2012-09-18 13:58:50 +10:00
9f1033dc42
AP_InertialSensor_Stub: added num_samples_available method to fix HIL build
2012-09-10 11:38:13 +09:00
130f3b0030
AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called
2012-09-10 11:38:08 +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
...
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
c965963d7b
AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop
2012-08-28 17:02:07 +09:00
ad51ac5e11
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
2012-08-21 19:03:14 -07:00
323ab9acf4
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
2012-08-21 19:03:14 -07:00
8e5a031987
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
2012-08-21 19:03:14 -07:00
ac3960b3e7
uncrustify libraries/AP_InertialSensor/AP_InertialSensor.h
2012-08-21 19:03:14 -07:00
e6c2616769
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
2012-08-21 19:03:14 -07:00
77729b847f
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
2012-08-21 19:03:14 -07:00
0c322fb18a
uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
2012-08-21 19:03:14 -07:00
25eaeff6a8
uncrustify libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
2012-08-21 19:03:14 -07:00
0763bbd1af
MPU6000: fixed some build warnings
2012-08-09 16:19:21 +10:00
518d6365ff
AP_Param: update remaining libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
5077674043
AP_InertialSensor_MPU6000: another attempt at fixing the SITL build
2012-07-28 17:19:19 +09:00
7683e9d870
AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)
...
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
2012-07-28 16:33:04 +09:00
48074f4766
AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning
2012-07-28 15:22:37 +09:00
6cd0918134
AP_InertialSensor: methods added to access DMP functionality
2012-07-28 14:14:43 +09:00
c9d3ab5413
Oilpan ADC parameters added
...
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
acc6adf6e9
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
69bf5700cd
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
...
this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
4a1d8b0875
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
ed99940bee
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
...
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00
2dd655d87d
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
b02ca58901
InertialSensor: fixed HIL build
2012-03-10 10:34:34 +11:00
9296ac494d
AP_InertialSensor: added a get_gyro_drift_rate() interface
...
this returns the expected max drift rate for the particular type of
gyro being used
2012-03-10 10:34:33 +11:00
3e960f8ef9
InertionSensor: update for new Ch6() interface
2012-03-10 10:34:32 +11:00
a9dea35310
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
ed19c25a97
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
e1c9c063a5
MPU6k: don't init the Wire library
...
we don't use Wire any more
2011-12-28 20:41:53 +11:00
6ca613337b
MPU6000: protect the driver from double initialisation
...
initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
18d26dc74e
MPU6000: minor fixes
...
the hardware functions should be private, and cs_pin should be uint8_t
2011-12-28 16:00:48 +11:00
04daeab7c0
MPU6000: change to 98Hz low pass filter
...
based on recommendation from Pat
2011-12-26 19:17:11 +11:00
10ca54ef8f
MPU6000: use data ready interrupt to prevent stale data
...
We listen for a data ready interrupt and only read new data in read()
if there is new data
2011-12-26 19:17:11 +11:00
760aa62c75
fixed the MPU6000 test sketch
2011-12-26 19:17:11 +11:00
b72f9c2e9f
added MPU6000 test sketch
...
this doesn't work yet - Pat, any idea why?
2011-12-25 12:03:39 +11:00
f97b405b56
MPU6k: update driver for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
bc9e943969
rollover is not a bug
...
subtracting unsigned numbers does the right thing
2011-12-21 23:31:38 +11:00
97f8d21c1b
added code format markers to AP_InertialSensor library
2011-12-21 23:31:38 +11:00
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Jonathan Challinger
Randy Mackay
José Roberto de Souza
Julien BERAUD
mirkix
raspilot
Víctor Mayoral Vilches
Gustavo Jose de Sousa
squilter
ziltoid2
Tom Pittenger
Andrew Tridgell
Grant Morphett
Staroselskii Georgii
Peter Barker
Peter Barker
ahcorde
Emile Castelnuovo
LukeMike
Andrew Tridgell
Mikhail Avkhimenia
Michael Carpenter
Mike McCauley
Don Gagne
Mike McCauley
Julian Oes
Michael Oborne
zlite
James Bielman
Pat Hickey
uncrustify
Jason Short
Craig Elder