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391 Commits

Author SHA1 Message Date
Andy Piper
c7a43f2a90 AP_InertialSensor: put some functions in fast ram 
precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
 2022-02-09 12:47:55 +00:00
Peter Barker
c1c329e2b4 AP_InertialSensor: add and use AP_SIM_INS_ENABLED 2022-01-17 19:14:39 +11:00
Andy Piper
3fd79b8ffb AP_InertialSensor: BMI270 driver 2021-12-31 09:25:29 +11:00
Andy Piper
d44478ff59 AP_InertialSensor: calculate number of notches based on motor count 
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
 2021-12-22 18:13:38 +11:00
Josh Henderson
27bcec9d6e AP_InertialSensor: for all Cubes ensure use of non-isolated IMU 2021-11-30 10:20:54 +11:00
Buzz
168dc34566 AP_InertialSensor: New fallback type = NONE, which successfully does nothing like an INS, but without needing a real one, like esp32 dev boards. 
Good for boards that u want to boot even when they dont have an IMU attached.
Author: Charles Villard <charlesvillard10@gmail.com>
Author: Buzz <davidbuzz@gmail.com>
 2021-11-01 17:40:31 +11:00
Andy Piper
6a00819b2d AP_InertialSensor: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Gone4Dirt
290794bf93 AP_InertialSensor: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
Peter Barker
dac4134533 AP_InertialSensor: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Andrew Tridgell
fefade783b AP_InertialSensor: allow accelcal with a rotation 2021-09-17 14:07:14 +10:00
Andrew Tridgell
4fdc1ebc30 AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-08-31 10:10:18 +10:00
Pierre Kancir
29b13ff98a AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-25 16:37:13 +09:00
Siddharth Purohit
c4caf2ff54 AP_InertialSensor: add HAL_INS_ENABLED 2021-06-30 17:06:02 +10:00
Siddharth Purohit
447935bf4c AP_InertialSensor: remove dependence on gcs for AP_Periph builds 2021-06-30 17:06:02 +10:00
Peter Barker
731cf038f0 AP_InertialSensor: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker
52a52e1e5b AP_InertialSensor: remove HIL support 2021-06-15 09:47:31 +10:00
Andrew Tridgell
b3ed4f4b12 AP_InertialSensor: fixed handling of more than 3 accel/gyro instances 
allows for first 3 to work without a panic
 2021-04-13 09:36:52 +10:00
Andrew Tridgell
dcf6bcea6e AP_InertialSensor: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Peter Barker
2b0bf45891 AP_InertialSensor: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Andrew Tridgell
25dd08a1fd AP_InertialSensor: added force_save_calibration() 2021-02-15 07:24:40 +11:00
Andrew Tridgell
2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell
b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell
3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell
ffe20f7958 AP_InertialSensor: use a fixed reference temperature of 35C 
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
dc58b0b950 AP_InertialSensor: changes from review feedback 
thanks Sid!
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127 AP_InertialSensor: added INS_TCAL_OPTIONS 
make persistent params optional, and allow save of accelcal
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1 AP_InertialSensor: start auto-learning at boot 
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7cb7ad3636 AP_InertialSensor: fixed build error 2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d AP_InertialSensor: added notify events for temperature calibration 2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1 AP_InertialSensor: added IMU temperature calibration support 
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
 2021-01-21 13:09:21 +11:00
Peter Barker
239b09fb34 AP_InertialSensor: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Andrew Tridgell
957842f7eb AP_InertialSensor: added support for v3 Invensense sensors 
starting with ICM-40609, ICM-42688 and ICM-42605
 2021-01-11 14:43:35 +11:00
Andrew Tridgell
b74e5c0e2f AP_InertialSensor: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell
4f176c25de AP_InertialSensor: relax IMU wait time for low loop rates 
allow for waiting for all IMUs for up to 1/3 of the loop time
 2021-01-05 21:13:12 +11:00
Andrew Tridgell
f6c45c3bcd AP_InertialSensor: cope with INS_MAX_INSTANCES < 3 2020-11-10 16:15:45 +11:00
Peter Barker
02c9aa2ae2 AP_InertialSensor: remove unused define 2020-10-20 11:24:34 +11:00
Andrew Tridgell
d5c0522651 AP_InertialSensor: instantiate SIM_IMU_COUNT sensors in SITL 2020-08-28 10:17:00 +10:00
Andy Piper
d4ba821297 AP_InertialSensor: make the backend fast gyro rate configurable and independent from the accel rate 
allow fast sampling of gyros on MPU6000 and MPU6500
 2020-07-28 20:47:16 +10:00
Andy Piper
05366e9aa9 AP_InertialSensor: delegate active harmonic calculation to the filter 2020-07-14 09:50:06 +10:00
Andy Piper
faf9bbbf3a AP_InertialSensor: make the backend fast gyro rate configurable 
raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
 2020-07-10 16:45:29 +10:00
Andy Piper
61bb42cc0c AP_InertialSensor: allow up to four distinct notch center frequencies to be updated 
apply the LPF after the notch filters to reduced notch-induced noise
 2020-06-21 19:09:35 +10:00
Andy Piper
8ac79da643 AP_InertialSensor: FFT gyro window would overflow on windows >= 256 
convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
 2020-05-24 07:43:34 +10:00
Andy Piper
d0a241597a AP_InertialSensor: add support for double harmonic notches to more effectively target wider noise peaks 2020-04-28 09:32:02 +10:00
Peter Barker
efbf929bc0 AP_InertialSensor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Andrew Tridgell
d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Andy Piper
0e9b2a26c5 AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate 
use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
 2020-02-22 11:15:37 +11:00
Andy Piper
3d9776dd6d AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis. 
FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
 2020-02-22 11:15:37 +11:00
Peter Barker
ab7ee46423 AP_InertialSensor: mark some parameters as Calibration parameters 2020-02-04 20:29:09 +11:00
Randy Mackay
b7f6f4a05e AP_InertialSensor: reduce POS param range to 5m and add increment 2020-02-01 08:46:03 +09:00
Andrew Tridgell
e52a3b9978 AP_InertialSensor: default fast sampling on 
if we have a first IMU capable of fast sampling then we want it
enabled by default
 2019-12-23 09:55:07 +11:00