Lucas De Marchi
b05610870c
global: use static method to construct AP_Rally
2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552
global: use static method to construct AP_InertialSensor
2017-09-26 03:01:21 +01:00
Lucas De Marchi
d566567d87
AP_InertialSensor: add static create method
2017-09-26 03:01:21 +01:00
Lucas De Marchi
caa4e3ee89
AP_InertialSensor: remove raspilot
2017-09-12 15:06:19 -07:00
Lucas De Marchi
06fe5ce8ba
AP_InertialSensor: implement periodic thread for AuxiliaryBus
2017-09-11 09:52:41 -07:00
Andrew Tridgell
7e1368f7a5
AP_InertialSensor: implement notch filter on gyro
2017-08-29 13:52:29 +10:00
Kevin Lopez Alvarez
ca3627c140
AP_InertialSensor: add ppro support
2017-07-24 13:47:06 +10:00
Randy Mackay
51fa8fb0bd
AP_InertialSensor: resolve member init order compiler warning
2017-07-07 17:27:23 +09:00
Randy Mackay
edc9d4db5b
AP_InertialSensor: increase accel filter to 20hz
2017-07-03 09:38:15 +09:00
Peter Barker
6ae86a0b8c
AP_InertialSensor: use DataFlash should_log to determine raw logging
2017-06-29 15:26:27 +01:00
Leonard Hall
447b20efa5
AP_InertialSensor: reduce accel filter to 10hz
2017-06-01 14:53:48 +09:00
Andrew Tridgell
62b826953d
AP_InertialSensor: use AP_Math rand_float()
2017-05-03 20:12:04 +10:00
Andrew Tridgell
bfd8d151c8
AP_InertialSensor: lower slave rate with fast sampling
...
On an invensense IMU with fast sampling we need to lower the slave
sample rate for slave sensors such as the built-in AK8963 compass on a
MPU9250.
The slave rate is set as a multiple of the main rate, so it needs to be
much lower for fast sampling. If we leave it high then it greatly
impacts on IMU sample rate.
Without this change a MPU9250 with fast sampling and a compass enabled
will give a gyro rate of around 7200Hz. With this change it gets 7760Hz
2017-05-02 12:11:08 +10:00
Andrew Tridgell
519a293af9
AP_InertialSensor: fixed instance usage in set_gyro_oversampling()
...
thanks Francisco!
2017-05-02 08:27:11 +10:00
Andrew Tridgell
112b22516a
AP_InertialSensor: fixed use of accel2_noise
...
thanks Francisco!
2017-05-02 08:24:50 +10:00
Andrew Tridgell
2876f1467c
AP_InertialSensor: converge sensor rate quickly, then slowly
...
converge fast for the first 60 seconds, then more slowly to reduce
noise
2017-05-01 15:13:56 +10:00
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
74eb7a7243
AP_InertialSensor: make SITL sensor rate match a Pixhawk1
...
use 760Hz 2nd gyro and 800 Hz 2nd accel
2017-05-01 15:06:46 +10:00
Andrew Tridgell
25cd16a275
AP_InertialSensor: fixed LSM303D registered sample rate
...
we are running the LSM303D at 1600Hz, and are sampling it at 1kHz. We
need to tell the AP_InertialSensor layer that samples will arrive at 1kHz
2017-05-01 15:06:46 +10:00
Andrew Tridgell
e62fdad12c
AP_InertialSensor: added get_last_update_usec()
...
this will be used by the inter-EKF scheduling changes
2017-05-01 14:24:55 +10:00
Andrew Tridgell
c952e58edb
AP_InertialSensor: fixed invensense driver temp reading
...
different parts have quite different zero offsets in temperature
2017-04-03 10:06:27 +10:00
Lucas De Marchi
2e4e4365d0
AP_InertialSensor: enable fast sampling for aerofc
2017-03-24 12:06:19 +11:00
Lucas De Marchi
87846fe049
AP_InertialSensor: use MPU6500 on aerofc
2017-03-24 12:06:19 +11:00
Andrew Tridgell
875274e761
AP_InertialSensor: added support for ICM-20602
...
treat the same as a 20608
2017-03-02 14:21:36 +11:00
Andrew Tridgell
b86513f503
AP_InertialSensor: support AUAV21 board
2017-03-01 17:24:10 +11:00
Lucas De Marchi
2d50eb312c
AP_InertialSensor: add support to MPU6500
...
Just like and MPU9250 without mag and with different WHOAMI register.
2017-02-26 13:37:13 +11:00
murata
a3f5b4f319
AP_InertialSensor: Change from magic number 0 to definition name.
2017-02-18 14:12:36 +00:00
Lucas De Marchi
9535b45cc9
AP_InertialSensor: examples: fix double to float warnings
...
While at it add function prototype.
2017-02-12 01:22:35 +00:00
Andrew Tridgell
01da36295d
AP_InertialSensor: support the L3GD20H gyro
...
this is used by the MRo Pixhawk1
2017-01-31 07:39:36 +11:00
murata
0733d760f6
AP_HAL_VRBRAIN: Unify from print or println to printf.
...
AP_InertialSensor: Unify from print or printin to printf.
2017-01-27 18:20:22 +11:00
murata
2643e7e906
AP_InertialSensor: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
Julien Beraud
3d9dacb227
AP_InertialSensor: push gyro data for opticalflow
...
Do it only if there is an optical flow in the current HAL
2017-01-23 21:23:16 +11:00
Lucas De Marchi
5472bc4de1
Global: change Device::PeriodicCb signature
...
Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
mirkix
62fabca19d
AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963
2017-01-11 21:44:24 -08:00
Randy Mackay
946d30476a
AP_InertialSensor: fix whoami for MPU6k
2017-01-05 10:29:51 +09:00
murata
d56bad781f
AP_InertialSensor: change if statements to switch statement
...
No functional change
2016-12-24 12:23:59 +09:00
murata
398b7b83dd
AP_InertialSensor: minor formatting fixes
...
No functional change
2016-12-24 12:23:58 +09:00
Lucas De Marchi
9569ed94a9
AP_InertialSensor: Invensense: use capital letters for define
2016-12-20 09:23:30 +09:00
Andrew Tridgell
a30745903a
AP_InertialSensor: use ACC2_BIAS
2016-12-19 08:07:15 +11:00
priseborough
60ebe97e10
AP_InertialSensor: remove unused EKF1 include
2016-12-19 08:07:11 +11:00
Andrew Tridgell
65b9b86099
AP_InertialSensor: unify MPU6000 and MPU9250 drivers
...
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
2016-12-16 12:31:34 +11:00
Pierre Kancir
de05e6ba29
InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 12:39:30 -08:00
Pierre Kancir
13c16e187f
InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 10:59:45 -08:00
Randy Mackay
dfd58cc57b
AP_InertialSensor: fix build warning for MPU9250
2016-11-30 18:00:14 +09:00
Randy Mackay
699279ed1f
AP_InertialSensor: fix build warning for MPU6000
2016-11-30 18:00:13 +09:00
Andrew Tridgell
f9845c93b1
AP_InertialSensor: keep transfers nicely setup for DMA on stm32
...
this avoids using stack based bounce buffers which may not support DMA
on stm32
2016-11-27 11:26:10 +11:00
Andrew Tridgell
771cedca3d
AP_InertialSensor: reduced number of SPI transfers
...
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
2016-11-26 19:02:22 +11:00
Andrew Tridgell
27605b0258
AP_InertialSensor: run invensese reg checking at low speed
...
config register read/write should be at low bus speed.
also change to check every 20 calls to reduce checking cost
2016-11-25 20:31:40 +11:00
