f3f1f6b0b6
AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk
2016-11-16 20:33:56 +11:00
6af00027ab
AP_InertialSensor: removed unused variables
...
thanks to Francisco for noticing
2016-11-16 08:41:06 +11:00
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
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
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
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
8d19808152
AP_InertialSensor: fixed missing checked register goto
...
thanks to Francisco for spotting
2016-11-11 08:08:56 +11:00
49856c37f2
AP_InertialSensor: reduce checked register count
...
thanks to Francisco for spotting this
2016-11-11 08:08:56 +11:00
4be8f05ad4
AP_InertialSensor: added register checking for LSM9DS0
2016-11-11 08:08:56 +11:00
77a83c091a
AP_InertialSensor: added register checking for MPU6000/ICM20608
2016-11-11 08:08:56 +11:00
95a849f472
AP_InertialSensor: added register checking for MPU9250
2016-11-11 08:08:56 +11:00
3289e90134
AP_InertialSensor: added error count increments in drivers
2016-11-11 08:08:55 +11:00
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
af0ec41652
AP_InertialSensor: fixed accel clip detection with fast sampling
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we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
2016-11-10 13:04:15 +11:00
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
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
46785e8ecf
AP_InertialSensor: improved method for FIFO integrity checking
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check temperature every 255 samples against FIFO data
2016-11-10 11:44:51 +11:00
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
e25a391a8f
AP_InertialSensor: fixed typo
2016-11-09 17:08:15 +11:00
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
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
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
...
very slightly faster
2016-11-09 17:08:13 +11:00
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
2016-11-09 17:08:12 +11:00
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
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
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
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
...
handle missing devices
2016-11-09 17:08:10 +11:00
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +11:00
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
2016-11-09 17:08:07 +11:00
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
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
2016-11-09 17:08:07 +11:00
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +11:00
aa4025bdf9
AP_InertialSensor: make INS sensor IDs match for PX4
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in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
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
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
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
0a1616cc71
AP_InertialSensor: use correct device IDs on PX4 driver
2016-11-09 17:08:05 +11:00
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
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
f81dba2100
AP_InertialSensor: add doc to get_id() of backend
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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
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
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
ac2c25539b
AP_InertialSensor: implement device IDs for AuxilaryBus
2016-11-09 17:08:04 +11:00
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
2016-11-09 17:08:04 +11:00
5cf768ced2
AP_InertialSensor: fixed missing return
2016-11-09 17:08:02 +11:00
38ff8b3536
AP_InertialSensor: removed unused product_id function in L3G4200D
2016-11-09 17:08:01 +11:00
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
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use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
b92c48548a
AP_InertialSensor: added per-instance rotation for LSM9DS0
2016-11-09 17:08:00 +11:00
2df6ed08c2
AP_InertialSensor: added optional per-instance orientation
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this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
ac2572384d
AP_InertialSensor: added start() method for LSM9DS0
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needed to get sensor ordering right on multi-sensor boards
2016-11-09 17:08:00 +11:00
7832f1a1b6
AP_InertialSensor: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
90dc9e3327
AP_InertialSensor: dummy implementation of register_periodic_callback()
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for AuxiliaryBus
2016-11-09 17:07:55 +11:00
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
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
afe2c31ae7
AP_Inertial_Sensor: use const reference
2016-10-27 15:06:11 +11:00
7460d97c9a
AP_InertialSensor: Update parameter documentation
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Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
470f5c4562
AP_InertialSensor: Correct SITL IMU1 accel for position in body frame
2016-10-27 14:54:45 +11:00
54a431a51d
AP_InertialSensor: Update position offset parameter documentation
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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
6db93d8a21
AP_InertialSensor: Add parameters defining accelerometer position offset
2016-10-27 14:54:41 +11:00
0e19b8c9a0
AP_HAL_Linux: Set initial rotation on Dark to None
2016-10-24 10:00:24 -02:00
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
17883f6683
AP_InertialSensor: fix INS_generic example (call BoardConfig.init())
2016-10-24 11:00:22 +09:00
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
714c8fd318
AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop
...
Already present on Disco
2016-10-03 12:20:03 -03:00
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
68fe536da3
AP_InertialSensor: use BMI160 for Intel Aero
2016-09-03 01:03:07 -03:00
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
a4d0ad8571
AP_InertialSensor: Fix name of sensor
2016-08-23 11:25:59 +09:00
36bdd7f1f1
AP_InertialSensor: MPU6000: Add missing read() check
2016-08-03 00:18:20 -03:00
cd0d65dc3f
AP_InertialSensor: don't check {gyro,accel}_available twice
...
That gives a slightly simpler code.
2016-07-22 19:58:08 -03:00
69405cc99a
AP_InertialSensor: fix timing debug macro
...
- 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
dd36952efe
AP_InertialSensor: BMI160: Register poll function with the timer lock
2016-07-21 15:42:32 -03:00
d30e55fa44
AP_InertialSensor: initial support for Disco
...
setup right orientation
2016-07-20 13:38:17 +10:00
6d1acc5813
AP_InertialSensor: BMI160: remove stray call to set speed
...
It's already supposed to be on high speed there.
2016-07-18 11:20:49 -03:00
ee7c40be61
AP_InertialSensor: BMI160: add backend
...
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
eee9fc88a1
AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED
2016-07-14 13:39:47 +10:00
33ce1213a2
AP_InertialSensor: call gyro_sample and accel_sample AP_Module hooks
2016-07-14 13:39:47 +10:00
cb858d2c99
AP_InertialSensor: fixed typo
2016-07-01 15:35:22 +10:00
834acaffee
AP_InertialSensor: provide IMU temperature to HAL for all boards
2016-07-01 15:29:52 +10:00
1f96336f7c
Global: rename bus type enum entries
2016-06-27 17:51:41 -03:00
f6bebc96c0
AP_InertialSensor: INS_generic: remove unused includes
2016-06-27 17:22:43 -03:00
e85ac8b2c5
AP_InertialSensor: inform maximum gyro average difference
...
While at it, define GYRO_INIT_MAX_DIFF_DPS.
2016-06-27 17:22:43 -03:00
e6f62080f5
AP_InertialSensor: fix best_diff on gyro initialization
...
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
de94392759
AP_InertialSensor: MPU9250: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
83feb2e2ae
AP_InertialSensor: MPU9250: let Device handle read flag
...
There's no need to handle that in MPU9250 anymore.
2016-06-27 17:20:51 -03:00
1e99a7125c
AP_InertialSensor: MPU9250: remove _register_write_check()
...
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
a6e5eb9e14
AP_InertialSensor: MPU6000: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
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
309fe4a88c
AP_InertialSensor: MPU6000: remove _register_write_check()
...
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
34fa2a39bd
AP_InertialSensor: Changing the default gyro filter from 10 to 4
...
This change is only for Rovers.
2016-06-16 14:37:55 +09:00
b067bce140
AP_InertialSensor: remove support for flymaple
2016-05-23 21:49:45 -03:00
Andrew Tridgell
Francisco Ferreira
Lucas De Marchi
murata
priseborough
Martin Evans
Mathieu OTHACEHE
Peter Barker
Julien Beraud
Gustavo Jose de Sousa
mirkix
Murilo Belluzzo
José Roberto de Souza
Grant Morphett