Andrew Tridgell
aef343bfd0
AP_InertialSensor: removed old mRoControlZeroF7 config
2019-05-30 15:39:57 +10:00
Andrew Tridgell
039e7366b0
AP_InertialSensor: support new sensor config setup
2019-05-30 15:39:57 +10:00
Andrew Tridgell
3823ba539c
AP_InertialSensor: rename to EXPECT_DELAY_MS()
2019-05-15 15:33:48 +10:00
Andrew Tridgell
02326ac52c
AP_InertialSensor: use EXPECT_DELAY() macro
2019-05-15 15:33:48 +10:00
Andrew Tridgell
4e769730c9
AP_InertialSensor: removed unusued AP_Common/Semaphore.h
2019-05-15 15:33:48 +10:00
Phillip Kocmoud
6665e4c0a7
AP_InertialSensor: probe IMUs for mRoControlZeroF7
2019-05-10 15:05:42 +10:00
Andrew Tridgell
893b49d145
AP_InertialSensor: disable register checking in invensensev2 driver
...
register checking doesn't work for the banked registers used in the
invensensev2 register layout. It ends up setting the wrong register
value in some cases, which can either cause the sensor to stop working
or in the worst case give bad data
2019-05-10 14:55:39 +10:00
Jaaaky
47c65314fb
AP_InertialSensor: fix accelcalsimple watchdog
2019-05-01 14:23:20 +10:00
Andrew Tridgell
034d476fa5
AP_InertialSensor: prevent watchdog in accelcal
2019-04-22 16:53:35 +10:00
Andrew Tridgell
9c48d001ac
AP_InertialSensor: skip gyro cal on watchdog reset
2019-04-22 16:53:35 +10:00
Andrew Tridgell
c988eb2fd9
AP_InertialSensor: don't set INS_ENABLE_MASK to found IMU mask
2019-04-22 14:56:59 +10:00
Andrew Tridgell
c7ed4bfbcc
AP_InertialSensor: allow testing of IMU failure
2019-04-22 14:56:42 +10:00
Randy Mackay
9fa742e1be
AP_InertialSensor: fix compiler warning in BMI088 driver
2019-04-11 10:32:51 +09:00
Peter Barker
e0fc73776c
AP_InertialSensor: return floats from raw-sample-rate getters
...
The underlying type changed at some stage but the getters did not
2019-04-09 10:02:16 +10:00
Andrew Tridgell
fa63243eb0
AP_InertialSensor: added BMI088 accel config retry
2019-04-08 19:58:12 +10:00
Peter Barker
ef860db558
AP_InertialSensor: add floating point constant designators
2019-04-05 23:04:17 -07:00
Michael du Breuil
c7a9e8bf93
AP_InertialSensor: Fix implicit include of AP_Logger
2019-04-05 20:12:53 +11:00
L Kurt Shaw
d08ab88dea
INS: AP_InertialSensor comments for new cubes
...
Correct comments ICM20648 should have been ICM20948
2019-04-02 10:52:43 +11:00
Tom Pittenger
3eeaa2c8df
AP_InertialSensor: rename dataflash to logger
2019-03-28 16:40:57 +11:00
na
494a3f86ad
AP_IntertialSensor: support ICM20601 IMU
2019-03-28 09:15:27 +11:00
Randy Mackay
5d8747c81d
AP_InetialSensor: fixup ENABLE_MASK parameter desc
2019-03-27 13:14:48 +09:00
Andrew Tridgell
4a334d0ed7
AP_IneertialSensor: fixed startup race in SITL
2019-03-21 18:54:32 +11:00
Andrew Tridgell
0a718ba330
AP_IneertialSensor: fixed orientations and gyro scale factors for new Invensense IMUs
2019-03-21 18:54:32 +11:00
Siddharth Purohit
8c2d3945de
AP_IneertialSensor: add support for custom accel scale
...
adds support for 30g measurement on ICM20649
2019-03-21 18:54:32 +11:00
Siddharth Purohit
3a833d9a90
AP_InertialSensor: fix rotation for ICM20649
2019-03-21 18:54:32 +11:00
Andrew Tridgell
880a55c6a2
AP_InertialSensor: fixes for BMI088 on SPI
...
The sensor has an unusual SPI interface, with a pad byte on read, and
retries needed on write
2019-03-14 16:10:40 +11:00
L Kurt Shaw
8d75e8c5bb
INS: AP_InertialSensor.cpp
...
Fix typo in comments should be NFC
2019-03-12 15:56:55 +09:00
Andrew Tridgell
81cd103073
AP_InertialSensor: probe for new v2 invensense IMUs
...
also suppress LSM9DS0 whoami warnings, as these will now be common
with new IMUs
and make 20602 show up as a new devtype so we can distinguish it
2019-03-11 12:40:21 +11:00
Andrew Tridgell
dff3ea416c
AP_InertialSensor: allow for LSM9DS0 to be used on I2C
2019-03-10 09:03:06 +11:00
Siddharth Purohit
086b4c1cfd
AP_InertialSensor: use default value for temperature scale and offset
2019-03-06 20:47:10 +11:00
Siddharth Purohit
b76ec8cc11
AP_InertialSensor: fix slave register structure for Invensensev2
2019-03-06 20:47:10 +11:00
Siddharth Purohit
528c0b4d7c
AP_InertialSensor: add drivers for register bank based Invensense Sensors
2019-03-06 20:47:10 +11:00
Siddharth Purohit
0cfcd0986e
AP_InertialSensor: look for icm20602 for Pixhawk 2 series flight boards
2019-03-06 20:47:10 +11:00
Andrew Tridgell
103af72859
AP_InertialSensor: remove more px4 remnants
2019-02-27 20:32:37 +11:00
Andrew Tridgell
2b285089e9
AP_InertialSensor: widen allowable temp gap on invensense IMUs
...
some sensors have more temperature noise
2019-02-26 16:18:26 +11:00
Andrew Tridgell
07e2167996
AP_InertialSensor: setup for fmuv6
2019-02-26 16:18:26 +11:00
Tom Pittenger
9347e6d36f
AP_InertialSensor: unify singleton naming to _singleton and get_singleton()
2019-02-10 19:09:58 -07:00
Andrew Tridgell
6048c10a7c
AP_InertialSensor: added driver for BMI088
...
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
2019-01-31 12:05:57 -08:00
Andrew Tridgell
9520f5f768
AP_InertialSensor: removed F4Light
2019-01-21 21:57:21 +11:00
Peter Barker
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Peter Barker
43e3acc954
AP_InertialSensor: remove use of never-set AP_HAL_PX4 and AP_HAL_VRBRAIN
2019-01-18 09:53:44 +11:00
Peter Barker
43e47f33e4
AP_InertialSensor: remove PX4 backend
2019-01-17 06:41:33 +11:00
Andrew Tridgell
a84af85689
AP_InertialSensor: support fast sampling in SITL
...
this allows testing of fast sample logs for FFT
2019-01-08 21:04:05 +11:00
Andrew Tridgell
512c50a6c4
AP_InertialSensor: use SIM_VIB_FREQ for SITL vibrations
...
this allows for testing of FFT on logs
2019-01-08 06:49:02 +11:00
Michael du Breuil
983356213a
AP_InertialSensor: Remove unused parameter
2018-12-23 12:46:37 -08:00
Randy Mackay
6b3fa520b5
AP_InertialSensor: add range to POS param description
2018-12-13 20:14:01 +09:00
Andrew Tridgell
3de860f73b
AP_InertialSensor: fixed orientation of 2nd OmnibusF7V2 IMU
2018-12-12 16:27:34 +11:00
Peter Barker
011c93f38e
AP_InertialSensor: add override keyword
2018-11-08 11:30:12 +11:00
Andrew Tridgell
755dc8dc5d
AP_InertialSensor: use WITH_SEMAPHORE()
...
and removed usage of hal.util->new_semaphore()
2018-10-17 12:54:22 +11:00
Michael du Breuil
f51d757844
AP_InertialSensor: Remove unused (and conflicting in some builds) include
2018-10-02 07:09:41 +10:00
Peter Barker
04c36efdbf
AP_InertialSensor: eliminate SITL float-equals issues
2018-08-28 09:54:47 +10:00
Michael du Breuil
1efad07a84
AP_InertialSensor: Remove unused ADC include
2018-07-17 09:29:50 +10:00
Andrew Tridgell
5f8b57ba19
AP_InertialSensor: added SITL device IDs
2018-07-13 10:19:01 +10:00
Lucas De Marchi
49d08ba72a
Global: remove minlure
...
Minlure is a port of ArduPilot to Minnow Board connected to daughter
board. Very few of those were produced and nobody is flying with it.
It served its purpose and all the the improvements to ArduPilot remain
regardless of it not being supported anymore. Now it's just adding
maintenance work with no clear benefit, so pull the plug.
2018-06-26 07:32:08 -07:00
Patrick José Pereira
0c06bf89e5
AP_InertialSensor: Use SITL singleton
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-06-26 00:02:01 +01:00
Andrew Tridgell
89b8124560
AP_InertialSensor: added BMI055 IMU driver
2018-06-08 09:56:41 +10:00
Andrew Tridgell
bfa66c9397
AP_InertialSensor: detect two IMUs on FMUv5
2018-06-06 07:15:41 +10:00
Francisco Ferreira
8b32960d3e
AP_InertialSensor: remove Qualcomm board support
2018-05-17 09:57:20 +10:00
Peter Barker
1a640e3405
AP_InertialSensor: parameterise sensor-rate logging, generalise it
...
AP_InertialSensor: add parameters for push-to-log interval and count
AP_InertialSensor: rename BAT_RAW to BAT_OPT
This becomes a bitmask of options for the BatchSampler
AP_InertialSensor: rename 'fast sample' to 'sensorrate sample'
AP_InertialSensor: const sensor-rate filter method
AP_InertialSampler: remove hard-coding of sample rate multiplier
AP_InertialSensor: use parameter to enable/disable sensor-rate logging
AP_InertialSensor: use a parameter to control sensor-rate logging
AP_InertialSensor: allow backends to override sensor data multiplier
e.g. some accelerometers are sensitive over wider ranges than the default 16G
AP_Inertialsensor: correct sample rate multiplier
2018-05-01 09:35:29 +10:00
Andrew Tridgell
44131202cd
AP_InertialSensor: 4kHz batch sampling
2018-05-01 09:35:29 +10:00
Jacob Walser
ad4e928e7d
AP_InertialSensor: add support for custom board orientations
2018-04-24 13:04:37 +01:00
Andrew Tridgell
ca9d1a55fe
AP_InertialSensor: support ICM-20689 IMU
...
like the 20789, but without the baro
2018-04-24 08:03:46 +10:00
Andrew Tridgell
ea2dc9b831
AP_InertialSensor: added OMNIBUSF7V2 INS sensors
...
a dual-IMU board
2018-04-12 11:50:44 +10:00
Andrew Tridgell
f788cde5c7
AP_InertialSensor: use multiply for fifo scale factors
...
this fixes issue from #8118 too
2018-04-10 14:17:16 +10:00
Peter Barker
be634a893f
AP_InertialSensor: remove unused ins error count logging
2018-04-04 14:21:20 +01:00
Peter Barker
aca87ab638
AP_InertialSensor: remove pointless initialisations
...
AP_InertialSensor: avoid pointless zeroing in constructor
AP_InertialSensor is either in bss or is created via new (which zeroes
memory)
2018-04-04 12:14:02 +01:00
Peter Barker
2396a248ed
AP_InertialSensor: use ahrs singleton for simple accelcal
2018-04-02 23:25:05 +01:00
Lucas De Marchi
c4e8aeb105
AP_InertialSensor: remove linux-only include
...
We already include AP_HAL.h that includes the platform-agnostic gpio
header, which is all that this driver needs. This is an alternative
fix to #7794 .
2018-03-09 11:12:31 -08:00
Andrew Tridgell
53b76efbd2
AP_InerialSensor: setup INT_PIN_CFG correctly
...
this restores the behavior lost with the 20789 driver change
2018-03-08 21:25:14 -08:00
Andrew Tridgell
e8726865ab
AP_InertialSensor: Correct scaling of batch data
2018-03-08 18:00:16 -08:00
Andrew Tridgell
455c0e25e1
AP_InertialSensor: allow for HAL_INS_NONE
2018-03-02 12:52:50 +11:00
Peter Barker
4288133ce0
AP_InertialSensor: correct compiler warning
...
../../libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h:108:14:
warning: private field '_error_count' is not used
[-Wunused-private-field]
uint16_t _error_count;
2018-03-02 09:26:37 +09:00
Andrew Tridgell
b61caa9c57
AP_InertialSensor: added SP01 board type
2018-02-14 18:27:00 +11:00
Peter Barker
096f7367bf
AP_InertialSensor: add ins() to AP:: namespace
2018-02-13 17:15:05 +11:00
Andrew Tridgell
b5e5b622c7
AP_InertialSensor: use register header for Revo driver
2018-02-10 09:14:41 +11:00
Andrew Tridgell
0e6497aa85
AP_InertialSensor: merged in Revo driver
2018-02-10 09:14:41 +11:00
Andrew Tridgell
b380143349
AP_InertialSensor: improved handling of I2C invensense sensor
...
on I2C the lower bus bandwidth changes the tradeoffs
2018-02-08 17:36:33 +11:00
Andrew Tridgell
b33c815e96
AP_InertialSensor: added whoami for prototype 20789
2018-02-08 17:36:33 +11:00
Andrew Tridgell
ad8db6cda3
AP_InertialSensor: added sensor type ICM20789_SPI
2018-02-08 17:36:33 +11:00
Andrew Tridgell
b9e5649888
AP_InertialSensor: support PCNC1
2018-02-08 17:36:33 +11:00
Peter Barker
71cf3941a7
AP_InertialSensor: move Invensense register defines into separate file
2018-02-08 17:36:33 +11:00
Peter Barker
3ee112843c
AP_InertialSensor: configure bypass for 20789 like we do for AK8963
2018-02-08 17:36:33 +11:00
Peter Barker
5d94172ada
AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in user_ctrl
...
This bit should never be set on 20789
2018-02-08 17:36:33 +11:00
Andrew Tridgell
5a4f0fed2d
AP_InertialSensor: added ICM-20789 support
2018-02-08 17:36:33 +11:00
Andrew Tridgell
f4521772c1
AP_InertialSensor: don't try fast sampling on a MPU6500
...
it can't do it
2018-02-07 20:33:45 +11:00
Andrew Tridgell
d575d676b6
AP_InertialSensor: fixed another transfer without bus semaphore
2018-02-07 20:33:45 +11:00
Andrew Tridgell
2ffb8d1583
AP_InertialSensor: fixed a bug where bus semaphore not held
...
during init of the invensense driver we could do a transfer without
the bus semaphore held. That violates the locking rules for the bus
2018-02-07 20:33:45 +11:00
Igor Anokhin
e6d4b2a087
AP_InertialSensor: add LSM9DS1 entry
...
Enable LSM9DS1 in case it is selected
2018-02-06 09:31:26 -08:00
Igor Anokhin
be386b2b73
AP_InertialSensor: LSM9DS1 add FIFO support
...
Make reading data with FIFO
2018-02-06 09:31:26 -08:00
Igor Anokhin
44d5112488
AP_InertialSensor: add LSM9DS1 support
...
Make LSM9DS1 driver
2018-02-06 09:31:26 -08:00
LukeMike
502f19cbae
VRBRAIN / AP_InertialSensor: added inertial sensors init for VR Brain boards
2018-02-05 08:26:49 +11:00
Randy Mackay
9ea16bec15
AP_InertialSensor: resolve compiler warning in example
2018-01-23 08:32:48 +09:00
Andrew Tridgell
100363ba03
AP_InertialSensor: if no sensors found allow parameter change
2018-01-20 10:36:22 +11:00
Andrew Tridgell
24c424ae5d
AP_InertialSensor: support over 1kHz IMUs
...
this allows for invensense IMUs to run above 1kHz by adjusting the
downsampling rate
2018-01-20 10:36:22 +11:00
Andrew Tridgell
c0c5f23aa5
AP_InertialSensor: added INS_ENABLE_MASK
...
this allows for only a specified subset of IMUs to be probed, so you
can disable IMUs that aren't needed.
The back corresponds to bits in the order the IMUs are normally probed
on the board
2018-01-20 10:36:22 +11:00
Andrew Tridgell
9416165fe3
AP_InertialSensor: improved invensense debugging on ChibiOS
2018-01-20 10:36:22 +11:00
Andrew Tridgell
8ab35e8aca
AP_InertialSensor: fixed MindPX-v2 orientation of IMU2
2018-01-15 11:46:02 +11:00
Andrew Tridgell
dcab40459d
AP_InertialSensor: support MindPX-v2
2018-01-15 11:46:02 +11:00
Andrew Tridgell
febe414766
AP_InertialSensor: disable fast sampling on 2nd IMU on Pixracer
...
it also hosts a mag, and gets lots of FIFO resets if we try to run it
at 8kHz
2018-01-15 11:46:02 +11:00
Andrew Tridgell
3fc095589c
AP_InertialSensor: support ChibiOS FMUv4
2018-01-15 11:46:02 +11:00
bugobliterator
1c6beaa7c4
AP_InertialSensor: use new API for DMA safe allocation
2018-01-15 11:46:02 +11:00
Andrew Tridgell
39362a81ae
AP_InertialSensor: support ChibiOS
2018-01-15 11:46:02 +11:00
Tom Pittenger
36f06d3576
AP_InertialSensor: remove AP_InertialSensor_UserInteract
...
leftover dead code from when CLI was removed
2018-01-11 08:11:07 +11:00
Pierre Kancir
8c8767e964
AP_InertialSensor: reduce QURT include scope
2017-12-27 15:13:30 +00:00
Andrew Tridgell
99499dece2
AP_InertialSensor: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Andrew Tridgell
39c206ca03
AP_InertialSensor: limit delta-time from INS
...
limit delta-time to 2x average time
DEBUG CODE - DO NOT MERGE
2017-12-12 11:39:38 +11:00
Andrew Tridgell
a0af4af5b5
AP_InertialSensor: debugging code for EK2 bug
2017-12-12 11:39:38 +11:00
Randy Mackay
38145f9541
AP_InertialSensor: fix param docs for notch and log settings
2017-12-12 07:59:41 +09:00
Peter Barker
161e2145cb
AP_InertialSensor: tighten type of simple_accel_cal result
2017-12-01 17:01:10 +00:00
HeBin
c056076e85
AP_InertialSensor: fix code style problem, delete useless codes
2017-11-22 10:20:00 -08:00
HeBin
efbb030494
AP_InertialSensor: add Robsense PhenixPro Devkit Board support
2017-11-22 10:10:21 -08:00
Andrew Tridgell
eab1d3af4f
AP_InertialSensor: don't apply offsets in SITL backend
...
the offsets are applied in the rotate and correct methods
2017-11-01 17:09:21 +11:00
Peter Barker
b997f445ff
AP_InertialSensor: include sample count in ISBH
2017-10-27 16:33:45 +11:00
Peter Barker
9566abb3a8
AP_InertialSensor: add IMU batch sampling
2017-10-27 16:33:45 +11:00
Peter Barker
5096e2fca9
AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw
2017-10-27 16:33:45 +11:00
Alexey Bulatov
069c98b8a9
AP_InertialSensor: Edge: add sensor's rotation YAW_90
2017-10-20 13:03:08 -07:00
Georgii Staroselskii
ac6f7511bd
AP_InertialSensor: examples: print temperature
2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4f2d8f8df4
AP_InertialSensor: use ICM backend for Edge
2017-10-20 13:03:08 -07:00
Andrew Tridgell
6a6f9681ab
AP_InertialSensor: allow for 1,1,1 accel scaling
...
this supports simple accel calibration
2017-10-10 10:57:38 +11:00
Andrew Tridgell
f513c1c8dd
AP_InertialSensor: support rotated IMUs in SITL
2017-10-10 10:57:38 +11:00
Andrew Tridgell
d5cab1140a
AP_InertialSensor: added simple_accel_cal()
...
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
2017-10-10 10:57:38 +11:00
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
Andrew Tridgell
0f984290c3
AP_InertialSensor: enable fast sampling by default on some boards
2016-11-25 17:59:54 +11:00
Andrew Tridgell
f3a778f980
AP_InertialSensor: fixed freeing of fifo buffer
2016-11-25 17:50:19 +11:00
Andrew Tridgell
6f28c61c8d
AP_InertialSensor: changed SIZE to LEN
...
thanks to Lucas for suggestion
2016-11-25 17:50:19 +11:00
hiro2233
cb7f46d653
AP_InertialSensor: fixed handling of user_ctrl register
...
with aux bus implementations
2016-11-25 17:50:18 +11:00
Andrew Tridgell
9b4c588c09
AP_InertialSensor: adapt drivers for SPI-DMA capable systems
...
no longer need accumulate() transfers with SPI enabled DMA on stm32
2016-11-25 17:49:58 +11:00
Andrew Tridgell
28daddaaf2
AP_InertialSensor: don't use accumulate approach on Linux or I2C
2016-11-25 17:49:57 +11:00
Andrew Tridgell
d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
...
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.
It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.
Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.
Thanks to Leonard and Paul for help with this design!
2016-11-25 17:49:57 +11:00
Lucas De Marchi
87c6d5da13
AP_InertialSensor: replace panic() with return
...
When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
2016-11-21 18:04:10 -02:00
Andrew Tridgell
6129b1abb6
AP_InertialSensor: wait forever for semaphore on startup
...
some boards take a silly amount of time to get semaphore on startup
2016-11-21 17:57:21 -02:00
Andrew Tridgell
216cf53922
AP_InertialSensor: handle FIFO overflow for MPU6k and 9250
...
this prevents temporary corruption of INS data on FIFO overflow
2016-11-19 12:54:22 +11:00
Andrew Tridgell
18d4286166
AP_InertialSensor: fixed pixfalcon 9250 detection
2016-11-18 14:24:39 +11:00
Andrew Tridgell
cb1a5d4c74
AP_InertialSensor: take semaphore for update of accumulators
...
this fixes a race in update of delta angle and delta velocity between
backend and frontend
2016-11-18 06:32:17 +11:00
Andrew Tridgell
f3f1f6b0b6
AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk
2016-11-16 20:33:56 +11:00
Andrew Tridgell
6af00027ab
AP_InertialSensor: removed unused variables
...
thanks to Francisco for noticing
2016-11-16 08:41:06 +11:00
Francisco Ferreira
bfbb275577
AP_InertialSensor: on accel cal failure don't save values to zero
...
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
2016-11-15 11:42:54 -08:00
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
c0303ffe8a
AP_InertialSensor: temporarily disable fast sampling
...
a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
2016-11-14 18:18:17 +11:00
Andrew Tridgell
c794ad9ee8
AP_InertialSensor: use smaller FIFO buffers
...
this allows for reading multiple chunks from the fifo per callback
2016-11-13 13:16:22 +11:00
Andrew Tridgell
8d19808152
AP_InertialSensor: fixed missing checked register goto
...
thanks to Francisco for spotting
2016-11-11 08:08:56 +11:00
Andrew Tridgell
49856c37f2
AP_InertialSensor: reduce checked register count
...
thanks to Francisco for spotting this
2016-11-11 08:08:56 +11:00
Andrew Tridgell
4be8f05ad4
AP_InertialSensor: added register checking for LSM9DS0
2016-11-11 08:08:56 +11:00
Andrew Tridgell
77a83c091a
AP_InertialSensor: added register checking for MPU6000/ICM20608
2016-11-11 08:08:56 +11:00
Andrew Tridgell
95a849f472
AP_InertialSensor: added register checking for MPU9250
2016-11-11 08:08:56 +11:00
Andrew Tridgell
3289e90134
AP_InertialSensor: added error count increments in drivers
2016-11-11 08:08:55 +11:00
Andrew Tridgell
4ebf3309f7
AP_InertialSensor: auto-handle invensense sensor changes
...
some boards swap out MPU6000 for MPU9250 or ICM20608
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
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
2016-11-10 13:04:15 +11:00
Andrew Tridgell
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
Andrew Tridgell
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
Andrew Tridgell
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
Andrew Tridgell
e27a76e460
AP_InertialSensor: fixed auxiliary bus with FIFO enabled
...
make sure fifo reset doesn't check I2C master enable
2016-11-10 11:44:51 +11:00
Andrew Tridgell
46785e8ecf
AP_InertialSensor: improved method for FIFO integrity checking
...
check temperature every 255 samples against FIFO data
2016-11-10 11:44:51 +11:00
Andrew Tridgell
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
Andrew Tridgell
e25a391a8f
AP_InertialSensor: fixed typo
2016-11-09 17:08:15 +11:00
Andrew Tridgell
d2f6a514b9
AP_InertialSensor: catch FIFO alignment errors using temperature reading
...
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
2016-11-09 17:08:15 +11:00
Andrew Tridgell
d248b33104
AP_InertialSensor: simplify config of MPU6000
...
use zero sample rate divider on both MPU6000 and ICM20608
2016-11-09 17:08:14 +11:00
Andrew Tridgell
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
Andrew Tridgell
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
Andrew Tridgell
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
Andrew Tridgell
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
...
very slightly faster
2016-11-09 17:08:13 +11:00
Andrew Tridgell
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
2016-11-09 17:08:12 +11:00
Andrew Tridgell
af1c5fd6d3
AP_InertialSensor: always use FIFO on MPU6000
...
and enable fast sampling on ICM20608 if on SPI
2016-11-09 17:08:12 +11:00
Andrew Tridgell
fde80a9408
AP_InertialSensor: modify LSM303D settings to match PX4 driver
...
this allows existing accel calibration to be used
2016-11-09 17:08:12 +11:00
Andrew Tridgell
a9a5e50bd1
AP_InertialSensor: removed timer callback for MPU6000
...
Thanks to Lucas for pointing out this is not needed
2016-11-09 17:08:11 +11:00
Andrew Tridgell
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
...
handle missing devices
2016-11-09 17:08:10 +11:00
Andrew Tridgell
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +11:00
Andrew Tridgell
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
2016-11-09 17:08:07 +11:00
Andrew Tridgell
106a91c64c
AP_InertialSensor: use init_gyro() on startup
...
this saves the calibration parameters which should be done on
calibration
2016-11-09 17:08:07 +11:00
Andrew Tridgell
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
2016-11-09 17:08:07 +11:00
Andrew Tridgell
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +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
Andrew Tridgell
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
Lucas De Marchi
104e29acf2
AP_InertialSensor: MPU6000: change accel scale to 16G
...
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
2016-11-09 17:08:06 +11:00
Lucas De Marchi
dc09661b9e
AP_InertialSensor: MPU6000: save driver version
...
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
2016-11-09 17:08:06 +11:00
Lucas De Marchi
0d3adef8b2
AP_InertialSensor: MPU6000: remove TODO leftover
...
This will never be done as blindly changing speed is not the way to fix
communication issues.
2016-11-09 17:08:05 +11:00
Andrew Tridgell
0a1616cc71
AP_InertialSensor: use correct device IDs on PX4 driver
2016-11-09 17:08:05 +11:00
Lucas De Marchi
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
...
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.
We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
2016-11-09 17:08:05 +11:00
Lucas De Marchi
bbb9bfa95e
AP_InertialSensor: save only gyro calibration
...
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.
Rename the method to _save_gyro_calibration() and save only on gyro
values.
2016-11-09 17:08:05 +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
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
Andrew Tridgell
ac2c25539b
AP_InertialSensor: implement device IDs for AuxilaryBus
2016-11-09 17:08:04 +11:00
Andrew Tridgell
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
2016-11-09 17:08:04 +11:00
Andrew Tridgell
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
Andrew Tridgell
38ff8b3536
AP_InertialSensor: removed unused product_id function in L3G4200D
2016-11-09 17:08:01 +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
b92c48548a
AP_InertialSensor: added per-instance rotation for LSM9DS0
2016-11-09 17:08:00 +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
Andrew Tridgell
ac2572384d
AP_InertialSensor: added start() method for LSM9DS0
...
needed to get sensor ordering right on multi-sensor boards
2016-11-09 17:08:00 +11:00
Andrew Tridgell
7832f1a1b6
AP_InertialSensor: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
Andrew Tridgell
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
Andrew Tridgell
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
Andrew Tridgell
90dc9e3327
AP_InertialSensor: dummy implementation of register_periodic_callback()
...
for AuxiliaryBus
2016-11-09 17:07:55 +11:00
Lucas De Marchi
91c4bf470f
AP_InertialSensor: add O_CLOEXEC in places missing it
...
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
2016-11-07 12:37:30 -03:00
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
Andrew Tridgell
afe2c31ae7
AP_Inertial_Sensor: use const reference
2016-10-27 15:06:11 +11:00
priseborough
7460d97c9a
AP_InertialSensor: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
470f5c4562
AP_InertialSensor: Correct SITL IMU1 accel for position in body frame
2016-10-27 14:54:45 +11:00
priseborough
54a431a51d
AP_InertialSensor: Update position offset parameter documentation
...
Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
2016-10-27 14:54:43 +11:00
priseborough
6db93d8a21
AP_InertialSensor: Add parameters defining accelerometer position offset
2016-10-27 14:54:41 +11:00
Martin Evans
0e19b8c9a0
AP_HAL_Linux: Set initial rotation on Dark to None
2016-10-24 10:00:24 -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
Peter Barker
17883f6683
AP_InertialSensor: fix INS_generic example (call BoardConfig.init())
2016-10-24 11:00:22 +09:00
Lucas De Marchi
ae53920e5b
build: don't build examples with old build system
...
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file. Having the makefiles
there is misleading since people try to build and realize the build is
broken.
2016-10-11 13:03:08 +11:00
Julien Beraud
714c8fd318
AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop
...
Already present on Disco
2016-10-03 12:20:03 -03:00
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
Gustavo Jose de Sousa
68fe536da3
AP_InertialSensor: use BMI160 for Intel Aero
2016-09-03 01:03:07 -03:00
Gustavo Jose de Sousa
b6c0e11200
AP_InertialSensor: BMI160: convert it to use Device periodic callback
...
Some notes:
- The only place that made sense to use
suspend_timer_procs()/resume_timer_procs() calls were where we registered
the timer process. Now there's no need for that anymore. Remove those calls
from other place in the source too.
- There's no need to acquire the device lock now that we are running as a
periodic callback.
2016-09-03 01:03:07 -03:00
mirkix
a4d0ad8571
AP_InertialSensor: Fix name of sensor
2016-08-23 11:25:59 +09:00
Murilo Belluzzo
36bdd7f1f1
AP_InertialSensor: MPU6000: Add missing read() check
2016-08-03 00:18:20 -03:00
Gustavo Jose de Sousa
cd0d65dc3f
AP_InertialSensor: don't check {gyro,accel}_available twice
...
That gives a slightly simpler code.
2016-07-22 19:58:08 -03:00
Gustavo Jose de Sousa
69405cc99a
AP_InertialSensor: fix timing debug macro
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- Use "INS_" prefix for the name in order to limit the scope for that macro.
- Don't define it in the code and check if it is defined instead of checking
the value. With that, there's no need to touch the code for enabling debug,
only a reconfiguration is necessary (e.g., `CXXFLAGS='-DINS_TIMING_DEBUG' waf
configure ...`).
2016-07-21 19:01:28 -03:00
José Roberto de Souza
dd36952efe
AP_InertialSensor: BMI160: Register poll function with the timer lock
2016-07-21 15:42:32 -03:00
Andrew Tridgell
d30e55fa44
AP_InertialSensor: initial support for Disco
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setup right orientation
2016-07-20 13:38:17 +10:00
Lucas De Marchi
6d1acc5813
AP_InertialSensor: BMI160: remove stray call to set speed
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It's already supposed to be on high speed there.
2016-07-18 11:20:49 -03:00
Gustavo Jose de Sousa
ee7c40be61
AP_InertialSensor: BMI160: add backend
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The reason of defining BMI160_MAX_FIFO_SAMPLES as 8 can be found on the
following histogram of the number of samples in the FIFO on each read while
performing the accelerometer calibration process:
Samples Count Freq Acc. Freq
------------------------------
1 3842 0.1201 0.120111
2 13172 0.4118 0.531904
3 9065 0.2834 0.815300
4 2710 0.0847 0.900022
5 2231 0.0697 0.969769
6 816 0.0255 0.995279
7 137 0.0043 0.999562
8 13 0.0004 0.999969
13 1 0.0000 1.000000
2016-07-15 16:46:06 -03:00
Andrew Tridgell
eee9fc88a1
AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED
2016-07-14 13:39:47 +10:00
Andrew Tridgell
33ce1213a2
AP_InertialSensor: call gyro_sample and accel_sample AP_Module hooks
2016-07-14 13:39:47 +10:00
Andrew Tridgell
cb858d2c99
AP_InertialSensor: fixed typo
2016-07-01 15:35:22 +10:00
Andrew Tridgell
834acaffee
AP_InertialSensor: provide IMU temperature to HAL for all boards
2016-07-01 15:29:52 +10:00
Lucas De Marchi
1f96336f7c
Global: rename bus type enum entries
2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa
f6bebc96c0
AP_InertialSensor: INS_generic: remove unused includes
2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e85ac8b2c5
AP_InertialSensor: inform maximum gyro average difference
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While at it, define GYRO_INIT_MAX_DIFF_DPS.
2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e6f62080f5
AP_InertialSensor: fix best_diff on gyro initialization
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Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
de94392759
AP_InertialSensor: MPU9250: remove _bus_type field
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Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
83feb2e2ae
AP_InertialSensor: MPU9250: let Device handle read flag
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There's no need to handle that in MPU9250 anymore.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
1e99a7125c
AP_InertialSensor: MPU9250: remove _register_write_check()
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That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
a6e5eb9e14
AP_InertialSensor: MPU6000: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
0718649c8b
AP_InertialSensor: MPU6000: let Device handle read flag
...
There's no need to handle that in MPU6000 anymore.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
309fe4a88c
AP_InertialSensor: MPU6000: remove _register_write_check()
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That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
Grant Morphett
34fa2a39bd
AP_InertialSensor: Changing the default gyro filter from 10 to 4
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This change is only for Rovers.
2016-06-16 14:37:55 +09:00
Lucas De Marchi
b067bce140
AP_InertialSensor: remove support for flymaple
2016-05-23 21:49:45 -03:00
Lucas De Marchi
7503c1b6d4
AP_InertialSensor: update doc about used ids
2016-05-23 21:49:45 -03:00
Ricardo de Almeida Gonzaga
d5a2c57c5e
AP_InertialSensor: Fix typos
2016-05-13 19:20:05 -03:00
dgrat
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Andrew Tridgell
be41d402b5
AP_InertialSensor: added set of delta angle time for replay
2016-04-26 15:50:46 +10:00
Andrew Tridgell
4401cbec72
AP_InertialSensor: cope with zero delta angle time from Replay
2016-04-26 15:37:11 +10:00
mirkix
c3a6a56ebb
AP_InertialSensor: Add second MPU9250 autodetection to BBBmini
2016-04-24 10:57:57 -03:00
Lucas De Marchi
f304fcf4da
AP_InertialSensor: examples: add coding style fixes
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Several coding style problems were already fixed by previous commit,
just finish the cleanup on this example:
- replace tabs with spaces
- remove unneeded \r
- remove extra spaces
2016-03-31 14:54:17 -03:00
AndersonRayner
10e7d43007
AP_InertialSensor: Add output of all IMUs to example
2016-03-31 14:54:17 -03:00
ashwinvasudevan
e33812e1cb
AP_InertialSensor: added missing brackets
2016-03-23 17:46:41 +09:00
raspilot
1d1d224c18
AP_InertialSensor: Enable dual IMU for raspilot
2016-03-18 21:51:37 -03:00
Lucas De Marchi
f75c12f57c
AP_InertialSensor: LSM9DS0: change mode of drdy pins to input
2016-03-18 21:51:37 -03:00
raspilot
c83e4df002
AP_InertialSensor: LSM9DS0: Disable I2C at init to avoid SDA hanging by slave.
2016-03-18 21:51:37 -03:00
raspilot
557beb4bb1
AP_InertialSensor: LSM9DS0: Fixed wrong call to _register_read_xm()
2016-03-18 21:51:37 -03:00
Lucas De Marchi
057822b51c
AP_InertialSensor: AuxiliaryBus: fix return value
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We should return the number of bytes written/read, not 0 on success.
This number may be useful in some cases so return it.
While at it fix a simple wrong space in the header.
2016-03-17 02:55:39 -03:00
Gustavo Jose de Sousa
4613b68efb
AP_InertialSensor: waf: skip VibTest example
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The code is currently broken.
2016-03-14 11:54:31 -03:00
Staroselskii Georgii
da550e5e98
AP_Inertial_Sensor: do not rotate MPU9250 on Navio2
2016-02-27 03:06:50 -03:00