23f594ef7d
AP_InertialSensor: reduce accel filter to 10hz
2017-06-15 10:11:50 +09:00
bfd8d151c8
AP_InertialSensor: lower slave rate with fast sampling
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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
519a293af9
AP_InertialSensor: fixed instance usage in set_gyro_oversampling()
...
thanks Francisco!
2017-05-02 08:27:11 +10:00
112b22516a
AP_InertialSensor: fixed use of accel2_noise
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thanks Francisco!
2017-05-02 08:24:50 +10:00
2876f1467c
AP_InertialSensor: converge sensor rate quickly, then slowly
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converge fast for the first 60 seconds, then more slowly to reduce
noise
2017-05-01 15:13:56 +10:00
db25b6e966
AP_InertialSensor: estimate and log sensor rates for all IMUs
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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
49cc0965c0
AP_InertialSensor: separate handling of FIFO and non-FIFO sensors
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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
74eb7a7243
AP_InertialSensor: make SITL sensor rate match a Pixhawk1
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use 760Hz 2nd gyro and 800 Hz 2nd accel
2017-05-01 15:06:46 +10:00
25cd16a275
AP_InertialSensor: fixed LSM303D registered sample rate
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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
e62fdad12c
AP_InertialSensor: added get_last_update_usec()
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this will be used by the inter-EKF scheduling changes
2017-05-01 14:24:55 +10:00
c952e58edb
AP_InertialSensor: fixed invensense driver temp reading
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different parts have quite different zero offsets in temperature
2017-04-03 10:06:27 +10:00
2e4e4365d0
AP_InertialSensor: enable fast sampling for aerofc
2017-03-24 12:06:19 +11:00
87846fe049
AP_InertialSensor: use MPU6500 on aerofc
2017-03-24 12:06:19 +11:00
875274e761
AP_InertialSensor: added support for ICM-20602
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treat the same as a 20608
2017-03-02 14:21:36 +11:00
b86513f503
AP_InertialSensor: support AUAV21 board
2017-03-01 17:24:10 +11:00
2d50eb312c
AP_InertialSensor: add support to MPU6500
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Just like and MPU9250 without mag and with different WHOAMI register.
2017-02-26 13:37:13 +11:00
a3f5b4f319
AP_InertialSensor: Change from magic number 0 to definition name.
2017-02-18 14:12:36 +00:00
9535b45cc9
AP_InertialSensor: examples: fix double to float warnings
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While at it add function prototype.
2017-02-12 01:22:35 +00:00
01da36295d
AP_InertialSensor: support the L3GD20H gyro
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this is used by the MRo Pixhawk1
2017-01-31 07:39:36 +11:00
0733d760f6
AP_HAL_VRBRAIN: Unify from print or println to printf.
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AP_InertialSensor: Unify from print or printin to printf.
2017-01-27 18:20:22 +11:00
2643e7e906
AP_InertialSensor: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
3d9dacb227
AP_InertialSensor: push gyro data for opticalflow
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Do it only if there is an optical flow in the current HAL
2017-01-23 21:23:16 +11:00
5472bc4de1
Global: change Device::PeriodicCb signature
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Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
62fabca19d
AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963
2017-01-11 21:44:24 -08:00
946d30476a
AP_InertialSensor: fix whoami for MPU6k
2017-01-05 10:29:51 +09:00
d56bad781f
AP_InertialSensor: change if statements to switch statement
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No functional change
2016-12-24 12:23:59 +09:00
398b7b83dd
AP_InertialSensor: minor formatting fixes
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No functional change
2016-12-24 12:23:58 +09:00
9569ed94a9
AP_InertialSensor: Invensense: use capital letters for define
2016-12-20 09:23:30 +09:00
a30745903a
AP_InertialSensor: use ACC2_BIAS
2016-12-19 08:07:15 +11:00
60ebe97e10
AP_InertialSensor: remove unused EKF1 include
2016-12-19 08:07:11 +11:00
65b9b86099
AP_InertialSensor: unify MPU6000 and MPU9250 drivers
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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
de05e6ba29
InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 12:39:30 -08:00
13c16e187f
InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part
2016-12-05 10:59:45 -08:00
dfd58cc57b
AP_InertialSensor: fix build warning for MPU9250
2016-11-30 18:00:14 +09:00
699279ed1f
AP_InertialSensor: fix build warning for MPU6000
2016-11-30 18:00:13 +09:00
f9845c93b1
AP_InertialSensor: keep transfers nicely setup for DMA on stm32
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this avoids using stack based bounce buffers which may not support DMA
on stm32
2016-11-27 11:26:10 +11:00
771cedca3d
AP_InertialSensor: reduced number of SPI transfers
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use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
2016-11-26 19:02:22 +11:00
27605b0258
AP_InertialSensor: run invensese reg checking at low speed
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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
0f984290c3
AP_InertialSensor: enable fast sampling by default on some boards
2016-11-25 17:59:54 +11:00
f3a778f980
AP_InertialSensor: fixed freeing of fifo buffer
2016-11-25 17:50:19 +11:00
6f28c61c8d
AP_InertialSensor: changed SIZE to LEN
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thanks to Lucas for suggestion
2016-11-25 17:50:19 +11:00
cb7f46d653
AP_InertialSensor: fixed handling of user_ctrl register
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with aux bus implementations
2016-11-25 17:50:18 +11:00
9b4c588c09
AP_InertialSensor: adapt drivers for SPI-DMA capable systems
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no longer need accumulate() transfers with SPI enabled DMA on stm32
2016-11-25 17:49:58 +11:00
28daddaaf2
AP_InertialSensor: don't use accumulate approach on Linux or I2C
2016-11-25 17:49:57 +11:00
d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
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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
87c6d5da13
AP_InertialSensor: replace panic() with return
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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
6129b1abb6
AP_InertialSensor: wait forever for semaphore on startup
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some boards take a silly amount of time to get semaphore on startup
2016-11-21 17:57:21 -02:00
216cf53922
AP_InertialSensor: handle FIFO overflow for MPU6k and 9250
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this prevents temporary corruption of INS data on FIFO overflow
2016-11-19 12:54:22 +11:00
18d4286166
AP_InertialSensor: fixed pixfalcon 9250 detection
2016-11-18 14:24:39 +11:00
cb1a5d4c74
AP_InertialSensor: take semaphore for update of accumulators
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this fixes a race in update of delta angle and delta velocity between
backend and frontend
2016-11-18 06:32:17 +11:00
Leonard Hall
Andrew Tridgell
Lucas De Marchi
murata
Julien Beraud
mirkix
Randy Mackay
priseborough
Pierre Kancir
hiro2233