d7601095fa
AP_InertialSensor: use millis/micros/panic functions
2015-11-20 12:31:41 +09:00
f36b2e415a
AP_InertialSensor: fixed flymaple build
2015-11-17 08:52:49 +11:00
ccd915eb67
AP_InertialSensor: moved raw gyro and accel logging to common code
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this brings raw logging to non-PX4 ports
2015-11-16 17:57:35 +11:00
75ea8f3dc0
AP_InertialSensor: removed "have sample" logic from drivers
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the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
0e4bab74ba
AP_InertialSensor: simplify sensor backends
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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
2c38e31c93
Remove use of PSTR
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The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
dfd671c54e
AP_InertialSensor: Backend: add hook for new gyro sample arrival
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That hook will do common tasks for when new gyro raw sample is available.
2015-10-22 16:53:10 +11:00
e06627dfcb
AP_InertialSensor: Backend: add hook for new raw accel samples
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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
ac3a677626
AP_InertialSensor: remove param rotate_and_correct from publish functions
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Once that parameter is always false.
2015-09-07 11:14:42 +10:00
0963159bb8
AP_InertialSensor: Flymaple: apply correction on each new sample
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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
7789aec85b
AP_InertialSensor: standardize inclusion of libaries headers
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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
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
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this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +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
a047d1f569
AP_InertialSensor: moved default filter and sample_rate to frontend
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this simplifies the backends and prevents code repitition
2014-10-24 12:10:40 +11:00
3a9a5a9c18
AP_InertialSensor: implement gyro and accel health monitoring
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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
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fill in parameter from first backend
2014-10-24 12:10:39 +11:00
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
2014-10-24 12:10:38 +11:00
f7279aa13f
AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health
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and get_accel_health.
2014-02-17 05:56:37 +11:00
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
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allows use from AP_NavEKF
2014-02-15 05:29:47 +11:00
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
2753449e75
AP_InertialSensor: added support for multiple accel/gyro devices
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this makes it possible to ask for the gyro and accel vectors from
secondary INS devices.
2013-12-09 17:34:05 +11:00
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
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used to detect bad accels
2013-11-07 13:53:59 +11:00
fe6cacf081
AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp
2013-10-14 11:34:47 +10:00
a04c056598
AP_InertialSensor: remove unused get_last_sample_time_micros()
2013-10-10 09:54:19 +11:00
e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
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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
c90c1b9998
AP_InertialSensor: Improvements to Flymaple sensors
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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
e4eef61ec3
AP_InertialSensor: Flymaple sensors improvements
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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
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come...
2013-09-27 15:45:57 +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
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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
14636e1cdf
AP_InertialSensor: changed num_samples_available() to sample_available()
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this makes the interface clearer. It also fixes a 3D accel cal bug.
2013-09-27 10:49:00 +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
Caio Marcelo de Oliveira Filho
Andrew Tridgell
Lucas De Marchi
Gustavo Jose de Sousa
Jonathan Challinger
Andrew Tridgell
Mike McCauley
Mike McCauley