Commit Graph

49 Commits

Author SHA1 Message Date
Peter Barker 6ae86a0b8c AP_InertialSensor: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Andrew Tridgell db25b6e966 AP_InertialSensor: estimate and log sensor rates for all IMUs
this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
2017-05-01 15:06:46 +10:00
Andrew Tridgell 49cc0965c0 AP_InertialSensor: separate handling of FIFO and non-FIFO sensors
FIFO sensors produce data at a well known rate, but samples come in
bunches, so we can't use the system clock to calculate deltaT.

non-FIFO sensors produce data when we sample them, but that rate is
less regular due to timing jitter.

For FIFO sensors this changes makes us use a learned sample rate,
which allows for different clock speeds on sensor and system board.

For non-FIFO sensors we use the system clock to measure deltaT

the overall effect is a fix for sensors that produce samples at other
than the claimed datasheet rate.
2017-05-01 15:06:46 +10:00
Andrew Tridgell 624178f3be AP_InertialSensor: added INS_FAST_SAMPLE parameter
this allows enable/disable of fast sampling per IMU, making
experimentation easier.

It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
2016-11-15 21:16:40 +11:00
Andrew Tridgell 3289e90134 AP_InertialSensor: added error count increments in drivers 2016-11-11 08:08:55 +11:00
Andrew Tridgell af0ec41652 AP_InertialSensor: fixed accel clip detection with fast sampling
we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
Andrew Tridgell aa4025bdf9 AP_InertialSensor: make INS sensor IDs match for PX4
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
Lucas De Marchi f81dba2100 AP_InertialSensor: add doc to get_id() of backend
This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
2016-11-09 17:08:05 +11:00
Lucas De Marchi ace61087a1 AP_InertialSensor: remove product_id
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.

A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
2016-11-09 17:08:05 +11:00
Andrew Tridgell a5c5e033d2 AP_InertialSensor: fixed threading and locking in remaining backends
use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
Andrew Tridgell 2df6ed08c2 AP_InertialSensor: added optional per-instance orientation
this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
murata c808ee2f49 Global: To nullptr from NULL.
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell 6f9530ebaa AP_InertialSensor: added optional FSYNC external sync bit
used to synchronise with image sensor on Disco
2016-09-05 12:55:32 +10:00
Lucas De Marchi 9c6bd38e91 AP_InertialSensor: sanitize includes
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.

With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.

Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:

	$ waf copter
	'copter' finished successfully (0.000s)
	Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
	[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
	[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
	[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
	[370/370] Linking build/minlure/bin/arducopter
	Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
2016-02-01 14:18:51 -02:00
Andrew Tridgell 32ed0d58f3 AP_InertialSensor: fixed filter setup on 2nd accel/gyro 2015-11-16 17:57:36 +11:00
Andrew Tridgell ccd915eb67 AP_InertialSensor: moved raw gyro and accel logging to common code
this brings raw logging to non-PX4 ports
2015-11-16 17:57:35 +11:00
Andrew Tridgell 75ea8f3dc0 AP_InertialSensor: removed "have sample" logic from drivers
the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends
use common code for filtering and update, allowing each sensor driver
to be simpler and more consistent
2015-11-16 17:57:35 +11:00
Gustavo Jose de Sousa 25a499a41f AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.

The changes in the code were basically done with the following commands:

git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"

git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"

And also with minor changes on indentation and comments.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 6feea5f64f AP_InertialSensor: Backend: remove function _publish_delta_angle()
Delta angle calculation is now unified, so there is no need for such a method.
That also avoids developers thinking they need that method being called
somewhere in their new drivers.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa 9e05041234 AP_InertialSensor: allow publishing gyro raw sample rate to frontend
That information will be used for a unified delta angle calculation.
2015-10-22 16:53:11 +11:00
Gustavo Jose de Sousa dfd671c54e AP_InertialSensor: Backend: add hook for new gyro sample arrival
That hook will do common tasks for when new gyro raw sample is available.
2015-10-22 16:53:10 +11:00
Gustavo Jose de Sousa a3e2c82491 AP_InertialSensor: Backend: remove function _publish_delta_velocity()
The delta velocity calculation is now unified, so there is no need for such a
method. That also avoids delevopers thinking they need that method being called
somewhere in their new drivers.
2015-10-22 16:53:10 +11:00
José Roberto de Souza daa32725ac AP_InertialSensor: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Lucas De Marchi 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
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa 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
Gustavo Jose de Sousa 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
Lucas De Marchi 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
Lucas De Marchi 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
Lucas De Marchi 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
Andrew Tridgell ac3200fd32 AP_InertialSensor: make max_abs_offsets a single float, not a vector 2015-06-30 10:51:43 +10:00
Gustavo Jose de Sousa 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
Andrew Tridgell 7d90033a36 AP_InertialSensor: support raw accel and gyro dataflash logging 2015-05-07 12:08:30 +10:00
Jonathan Challinger 423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
Andrew Tridgell 23272e4013 AP_InertialSensor: added get_temperature() interface
this will allow logging of individual temperature sensors
2015-03-17 13:32:54 +11:00
Andrew Tridgell 3d7d46b9b0 AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
Andrew Tridgell 5d0eb49114 AP_InertialSensor: calculate queue depth based on requested sample rate
this auto-scales the queue depth for plane, rover and copter
2015-03-12 12:50:30 +11:00
Jonathan Challinger 2a547f329b AP_InertialSensor: allow backends to publish delta velocities and angles 2015-03-12 12:50:27 +11:00
Jonathan Challinger 155c173ed1 AP_InertialSensor: rename _rotate_and_offset to _publish 2015-03-12 12:50:27 +11:00
Andrew Tridgell 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
Andrew Tridgell a047d1f569 AP_InertialSensor: moved default filter and sample_rate to frontend
this simplifies the backends and prevents code repitition
2014-10-24 12:10:40 +11:00
Andrew Tridgell bc5d79118d AP_InertialSensor: updated comments 2014-10-24 12:10:39 +11:00
Andrew Tridgell 3a9a5a9c18 AP_InertialSensor: implement gyro and accel health monitoring
sensor is healthy if it gave a sample on the last update()
2014-10-24 12:10:39 +11:00
Andrew Tridgell 586fa9a816 AP_InertialSensor: added product_id support
fill in parameter from first backend
2014-10-24 12:10:39 +11:00
Andrew Tridgell deafcd6ddc AP_InertialSensor: improved timing in all drivers 2014-10-24 12:10:37 +11:00
Andrew Tridgell d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell 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