Randy Mackay
5f26a36060
INS: protect against two calibrations running at the same time
2015-03-09 17:58:38 +11:00
Randy Mackay
f9c6e35d19
INS: add calibrating method
2015-03-09 17:58:38 +11:00
Randy Mackay
b0e7990c90
INS: set gyro_cal_ok only after completing calibration
2015-03-09 17:58:37 +11:00
Andrew Tridgell
aec7907571
AP_InertialSensor: updated comment on accel check in gyro cal
2015-03-09 17:58:36 +11:00
Andrew Tridgell
494e909703
AP_InertialSensor: ensure accel cal completion messages get through
2015-03-09 07:36:50 +11:00
Andrew Tridgell
38bde56523
AP_InertialSensor: continue finding best gyro after convergence
...
with multiple gyros if we are still calibrating one of the gyros then
keep looking for better values for the already converged gyros.
2015-03-08 07:49:38 +11:00
Andrew Tridgell
20a4c98bac
AP_InertialSensor: use accelerometers to prevent bad gyro cal
...
if the board is rotating at a steady rate we can end up with a bad
gyro calibration. This can happen on a steadily moving platform such
as a ship.
This uses the accelerometers to detect the steady movement and not
accept the gyro calibration
2015-03-08 07:48:16 +11:00
Andrew Tridgell
434d094993
AP_InertialSensor: allow MAVLink packets to flow during accelcal
...
this uses the snoop functionality of GCS_MAVLink to allow the delay
callback to be used during accel calibration
2015-03-07 21:56:39 +11:00
Randy Mackay
b650d39786
InertialSensor: remove product_id set to zero
2015-02-21 09:14:33 +09:00
Andrew Tridgell
9b2d44d6ed
AP_InertialSensor: use delay_microseconds_boost()
...
this gives much more consistent timing for PX4
2015-02-16 12:19:13 +11:00
Andrew Tridgell
f54d799bff
AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues
2015-02-16 10:12:10 +11:00
Andrew Tridgell
04bef5ccf3
AP_InertialSensor: don't skip delay if we are a bit early
...
this produces a bit more even timing
2015-02-14 12:25:44 +11:00
Andrew Tridgell
4537acb898
AP_InertialSensor: change for new PX4 device paths
2015-02-14 12:25:43 +11:00
mirkix
460b434708
AP_InertialSensor: add apm1 oilpan support
2015-02-11 18:22:44 +11:00
Grant Morphett
b511410b48
AP_InertialSensor: Changes to fix the warnings in rover sitl build.
...
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
2015-02-11 18:16:45 +11:00
Emile Castelnuovo
dae32984f1
AP_InertialSensor: use PX4 library for VRBRAIN boards.
2015-02-02 08:43:59 +11:00
Emile Castelnuovo
731329fc55
AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN
2015-02-02 08:43:58 +11:00
LukeMike
6a93148b92
AP_InertialSensor: added library for VRBRAIN Inertial Sensor
2015-02-02 08:43:58 +11:00
Andrew Tridgell
6e62e1ca7b
AP_InertialSensor: make calibrated() const
2015-02-01 14:13:54 +11:00
Randy Mackay
b43dc3bdfb
INS: fix example sketch
2015-01-28 17:15:42 +09:00
Andrew Tridgell
8b59c72eb9
AP_InertialSensor: cope with 2 IMUs in SITL
2015-01-20 19:47:45 +11:00
Andrew Tridgell
b3ce56d34d
AP_InertialSensor: fixed 2nd IMU in Replay
...
this makes for much more accurate replay runs
2015-01-20 09:20:47 +11:00
mirkix
fa950a735e
AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black
2015-01-12 21:36:40 +13:00
Andrew Tridgell
1b3c3c754d
AP_InertialSensor: use correct ifdef for AK8963
2015-01-07 11:58:05 +11:00
Staroselskii Georgii
f7f9cd2173
AP_InertialSensor: prevented MPU9250 from disabling I2C slaves
2015-01-07 08:41:13 +11:00
Andrew Tridgell
745b739ab7
AP_InertialSensor: make calibrated() function fast enough to call in flight
...
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.
Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
2015-01-03 14:06:42 +11:00
Andrew Tridgell
06a72839ed
AP_InertialSensor: fixed error detection on secondary IMUs
...
the break; was preventing error detection on lsm303d/l3gd20
2015-01-01 08:55:57 +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
7bb56e50aa
AP_InertialSensor: fixed example build
2014-11-28 10:40:19 +11:00
Andrew Tridgell
f84f432ecf
AP_InertialSensor: allow gyro calibration to take up to 30 seconds
...
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
2014-11-22 18:27:51 +11:00
Andrew Tridgell
7c288e020b
AP_InertialSensor: fixed detection of dead IMU
...
if a PX4 sensor does not give new data we need to avoid calling
_rotate_and_offset_*() to avoid marking it as healthy. Otherwise if
the MPU6k dies we won't switch to the LSM303D automatically
2014-11-16 12:30:33 +11:00
Andrew Tridgell
986b7bf894
AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers
2014-11-11 17:06:22 +11:00
Andrew Tridgell
3518cf5480
AP_InertialSensor: fixed default MPU9250 orientation for NavIO
2014-11-04 16:18:35 +11:00
Andrew Tridgell
ad7c612334
AP_InertialSensor: fixed SITL with new HIL code
2014-10-24 15:05:44 +11:00
Andrew Tridgell
aeaa3c1e04
AP_InertialSensor: fixed build for VRBrain
2014-10-24 12:10:41 +11:00
Andrew Tridgell
40e83ceb1f
AP_InertialSensor: simplify next sample time calculations
...
this makes the calculation much clearer
2014-10-24 12:10:40 +11:00
Andrew Tridgell
9dfbdb1e69
AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs
...
use a software filter and 1kHz sampling for better filtering if we
have a fast enough CPU to do it
2014-10-24 12:10:40 +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
17b2214798
AP_InertialSensor: make it easier to add multiple backends
...
use _add_backend() to add new backends on startup
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
520727e5bd
AP_InertialSensor: fixed example build
2014-10-24 12:10:39 +11:00
Andrew Tridgell
dbcd02f2be
AP_InertialSensor: converted MPU9150 driver
...
untested conversion
2014-10-24 12:10:38 +11:00
Andrew Tridgell
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
2014-10-24 12:10:38 +11:00
Andrew Tridgell
a42af0f2f1
AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN
2014-10-24 12:10:38 +11:00
Andrew Tridgell
3ce7667e5a
AP_InertialSensor: tidy up MPU6000 driver
2014-10-24 12:10:37 +11:00
Andrew Tridgell
2d47a07480
AP_InertialSensor: ported L3G4200D driver to new API
2014-10-24 12:10:37 +11:00
Andrew Tridgell
deafcd6ddc
AP_InertialSensor: improved timing in all drivers
2014-10-24 12:10:37 +11:00
Andrew Tridgell
ff6d87f145
AP_InertialSensor: minor tidy up for HIL driver
2014-10-24 12:10:37 +11:00
