Peter Barker
52a52e1e5b
AP_InertialSensor: remove HIL support
2021-06-15 09:47:31 +10:00
Josh Henderson
9792202810
AP_InertialSensor: Privatize Logging
2021-04-29 19:19:12 +10:00
Andrew Tridgell
b3ed4f4b12
AP_InertialSensor: fixed handling of more than 3 accel/gyro instances
...
allows for first 3 to work without a panic
2021-04-13 09:36:52 +10:00
Peter Barker
2b0bf45891
AP_InertialSensor: remove separate calls to get delta-times for vel and ang
2021-03-13 11:29:29 +11:00
Andrew Tridgell
25dd08a1fd
AP_InertialSensor: added force_save_calibration()
2021-02-15 07:24:40 +11:00
Andrew Tridgell
6c8a57c2d7
AP_InertialSensor: review fixes
2021-01-21 13:09:21 +11:00
Andrew Tridgell
5e60fac37e
AP_InertialSensor: remove unused variable
2021-01-21 13:09:21 +11:00
Andrew Tridgell
285b53fe07
AP_InertialSensor: use vector polyfit
...
this reduces memory usage
2021-01-21 13:09:21 +11:00
Andrew Tridgell
ffe20f7958
AP_InertialSensor: use a fixed reference temperature of 35C
...
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127
AP_InertialSensor: added INS_TCAL_OPTIONS
...
make persistent params optional, and allow save of accelcal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
1ddc21c9bb
AP_InertialSensor: support saving tempcal params persistently
2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1
AP_InertialSensor: start auto-learning at boot
...
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
2021-01-21 13:09:21 +11:00
Andrew Tridgell
30e55d8dfc
AP_InertialSensor: cope with user changing TMAX while calibrating
2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce
AP_InertialSensor: catch user attempt to change TMAX during cal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d
AP_InertialSensor: added notify events for temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d
AP_InertialSensor: change TCAL sampling to be even in temperature
2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b
AP_InertialSensor: expose TCal class for use in SITL
2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
...
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
2021-01-21 13:09:21 +11:00
Andrew Tridgell
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
Peter Barker
72acc8bfc8
AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt
2020-11-29 13:21:53 +11:00
Andrew Tridgell
f6c45c3bcd
AP_InertialSensor: cope with INS_MAX_INSTANCES < 3
2020-11-10 16:15:45 +11:00
Michael du Breuil
c86dcf91d6
AP_InertialSensor: Run vibration monitoring on all instances
2020-10-24 09:54:04 +11:00
Andy Piper
faf9bbbf3a
AP_InertialSensor: make the backend fast gyro rate configurable
...
raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
2020-07-10 16:45:29 +10:00
Andy Piper
61bb42cc0c
AP_InertialSensor: allow up to four distinct notch center frequencies to be updated
...
apply the LPF after the notch filters to reduced notch-induced noise
2020-06-21 19:09:35 +10:00
Andy Piper
8ac79da643
AP_InertialSensor: FFT gyro window would overflow on windows >= 256
...
convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
2020-05-24 07:43:34 +10:00
Andy Piper
0e9b2a26c5
AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate
...
use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
2020-02-22 11:15:37 +11:00
Andy Piper
3d9776dd6d
AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis.
...
FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
2020-02-22 11:15:37 +11:00
Andrew Tridgell
9dc618ddd4
AP_InertialSensor: added gyro_harmonic_notch_enabled()
2019-11-19 07:08:01 +08:00
Andrew Tridgell
77d21f9f5d
AP_InertialSensor: return HarmonicNotchDynamicMode
2019-11-19 07:08:01 +08:00
Andy Piper
6381183aa3
AP_InertialSensor: expose harmonic notch tracking mode
2019-10-31 11:18:40 +08:00
Andy Piper
50f7e50634
AP_InertialSensor: add harmonic notch filter to gyro filter chain
...
Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats.
backend variables do not need to be indexed per-backed
2019-09-11 18:41:05 +10:00
Andrew Tridgell
3444e82ef9
AP_InertialSensor: added RC switch for killing IMUs
2019-07-07 19:03:01 +10:00
Andrew Tridgell
053f0cb689
AP_InertialSensor: try much harder to get all IMU samples
...
this we ensures we get new data for all active IMUs on each loop,
rather than sometimes returning with some IMUs not having data.
This matters as not having a sample on an IMU for a single loop can
cause an EKF IMU failover, which will degrade the learned bias
variances
The issue is usually only seen under high load, such as requesting a
loop rate beyond what the hardware is capable of
2019-07-07 19:03:01 +10:00
Andy Piper
36878e9b3c
AP_InertialSensor: Allow all filter frequencies to be 16bit.
2019-06-06 17:09:17 +10:00
Andy Piper
18d403c3ac
AP_InertialSensor: Rework notch filter allocation and sampling
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https://github.com/ArduPilot/ardupilot/issues/11346
Allocate a notch filter per-IMU.
Update the notch filters in the backend at the sensor sample rate.
Allow raw logging of post-filtered gyro and accel values.
2019-06-06 17:09:17 +10:00
Andrew Tridgell
9c48d001ac
AP_InertialSensor: skip gyro cal on watchdog reset
2019-04-22 16:53:35 +10:00
Siddharth Purohit
8c2d3945de
AP_IneertialSensor: add support for custom accel scale
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adds support for 30g measurement on ICM20649
2019-03-21 18:54:32 +11:00
Tom Pittenger
9347e6d36f
AP_InertialSensor: unify singleton naming to _singleton and get_singleton()
2019-02-10 19:09:58 -07:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Michael du Breuil
983356213a
AP_InertialSensor: Remove unused parameter
2018-12-23 12:46:37 -08:00
Peter Barker
011c93f38e
AP_InertialSensor: add override keyword
2018-11-08 11:30:12 +11:00
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
Peter Barker
be634a893f
AP_InertialSensor: remove unused ins error count logging
2018-04-04 14:21:20 +01:00
Peter Barker
2396a248ed
AP_InertialSensor: use ahrs singleton for simple accelcal
2018-04-02 23:25:05 +01:00
Andrew Tridgell
e8726865ab
AP_InertialSensor: Correct scaling of batch data
2018-03-08 18:00:16 -08:00
Peter Barker
096f7367bf
AP_InertialSensor: add ins() to AP:: namespace
2018-02-13 17:15:05 +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