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1251 Commits

Author SHA1 Message Date
Eric Katzfey 115e5254d9 AP_InertialSensor: Added explicit casts to get rid of Qurt compiler warning about implicit casts 2024-11-20 15:06:37 +11:00
Jacob Dahl 8413ab2bf2 AP_InertialSensor: added IIM42653 support 2024-11-13 06:39:29 +11:00
Andy Piper c0ce5e5ed0 AP_InertialSensor: optimize Invensense v3 FIF read 2024-11-12 11:36:59 +11:00
Andy Piper d76132ec63 AP_InertialSensor: ensure fifo reads use transfer() to optimize buffer allocation and copying 2024-11-12 11:36:59 +11:00
bugobliterator 9381404a9f AP_InertialSensor: fix continuing after ins init fail in AP_Periph 2024-10-23 06:46:22 +09:00
Andy Piper cb111504e2 AP_InertialSensor: cope with negative ESC frequencies in notch updates 2024-10-09 18:31:57 +11:00
Peter Barker 7147a2deeb AP_InertialSensor: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker b5cd3370eb AP_InertialSensor: add missing include for AHRS 
we use a method from this library
 2024-09-06 08:52:01 +10:00
Peter Barker a0c57291d7 AP_InertialSensor: correct compilation when logging disabled 2024-09-02 11:53:12 +10:00
Andy Piper 98f3a4b7d5 AP_InertialSensor: allow backend filters to be updated independently from a separate thread 2024-08-23 18:34:28 +10:00
Iampete1 89297737ea AP_InertialSensor: move to new constant dt low pass filter class 2024-08-20 09:09:41 +10:00
Peter Barker f389549d5d AP_InertialSensor: correct warnings on static_assert requiring a message 2024-08-13 08:38:00 +10:00
James O'Shannessy 66817e207f AP_InertialSensor: Check the gyro/accel id has not been previously registered 
If the Gyro/Accel ID is already in the registered list, do not try to add it again.

This stops an issue seen on a CubeOrangePlus BG3 where, during the very first boot after a parameter wipe, software incorrectly registers a fourth IMU.
The Fourth IMU is registered because the AUX IMU is the same DevID as the third ICM45686.
 2024-07-25 09:49:35 +10:00
James O'Shannessy c771440ea4 AP_InertialSensor: Fix persistent storing of IMU Z Scale 
Fixes INSn_ACCSCAL_Z not being stored in persistent storage when bootloader is flashed.
 2024-07-23 11:59:49 +10:00
Peter Barker ef0de65347 AP_InertialSensor: tidy IMU killing 2024-07-10 18:17:00 +10:00
muramura e48044dc45 AP_InertialSensor: Clearly state the maximum G-force 2024-07-10 10:07:16 +10:00
Andy Piper a86f4fdc8f AP_InertialSensor: move gyro and accel instance ids into AP_InertialSensor_Backend 2024-06-26 17:14:56 +10:00
Peter Barker 8ddac54b17 AP_InertialSensor: rename ins get_primary_accel to get_first_usable_accel 2024-06-26 17:12:12 +10:00
Andrew Tridgell e9d39d80f4 AP_InertialSensor: fixed ICM42670 
highres sampling is not working on the ICM42670 on some versions of
the Pixhawk6X. Disable for now.
 2024-06-07 19:44:48 +10:00
Andrew Tridgell e97a6c7089 AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Andrew Tridgell a0acccb1f9 AP_InertialSensor: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Andy Piper f78eb58fb4 AP_InertialSensor: ensure that notches get updated while converging 2024-05-03 07:34:21 +10:00
Andy Piper 30877cf11f AP_InertialSensor: allow FIFO rate logging for hires sampling 2024-05-02 11:01:20 +10:00
James O'Shannessy 9dbc61f85b AP_InertialSensor: Fix parameter name when saving persistent accel cals for Aux IMUs 
Without this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU3_ACCOFFS_*

After this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU4_ACCOFFS_*
 2024-04-05 11:02:04 +11:00
James O'Shannessy ac271cf4e0 AP_InertialSensor: Improve bitmask indicating persistent parameters on bootloader flash 
INS_TCAL_OPTIONS parameter description indicates a singular bit in a bitmask to persist Accels/TCAL parameters, however there are two separate bits for persistence.
 2024-03-26 11:39:11 +11:00
Peter Barker 6de3cce480 AP_InertialSensor: allow HarmonicNotches to be compiled out of the code 2024-03-19 07:04:13 +11:00
Andrew Tridgell 7353001646 AP_InertialSensor: adjust logging descriptions 2024-03-16 06:54:27 +11:00
Andrew Tridgell d7d854a60f AP_InertialSensor: call logging function for notch centers and harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell 88fb38b524 AP_InertialSensor: added comments 2024-03-16 06:54:27 +11:00
Andrew Tridgell 25ffcc1580 AP_InertialSensor: use num_composite_notches() 
this prevents duplication of the logic for the priority of the double
notch vs the triple notch option
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 08ccead215 AP_InertialSensor: fixed num_filters to be uint16_t 
max is more than 256
 2024-03-16 06:54:27 +11:00
Andrew Tridgell de8bec596e AP_InertialSensor: removed zero checks and clamping on notch filters 
and pass params object down into HarmonicNotchFilter
 2024-03-16 06:54:27 +11:00
Patrick José Pereira 5b1cac268b INS_generic: Use new default for reboot 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-03-12 21:13:41 +11:00
Andrew Tridgell 66ff84e6fb AP_InertialSensor: fixed wait_for_sample() in examples 2024-02-28 19:22:14 +11:00
Andrew Tridgell 280bc3a285 AP_InertialSensor: fixed accel cal simple to remove unused IMUs 
when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
 2024-02-27 21:10:20 +11:00
Peter Barker 477fa3e161 AP_InertialSensor: move logger object up to AP_Vehicle 2024-02-13 10:54:29 +11:00
Hayden Donald fdf56c2ec4 AP_InertialSensor: Move accel/gyro_consistent to AP_IntertialSensor 
Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
 2024-02-09 18:54:43 +11:00
Peter Barker 6a897f01d8 AP_InertialSensor: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker 1051da5cb4 AP_InertialSensor: correct compilation when AP_AHRS_ENABLED is off 
e.g. CubeOrange-periph-heavy
 2024-01-16 16:14:04 +11:00
Peter Barker a81b229997 AP_InertialSensor: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Andrew Tridgell 9c8fa7f58c AP_InertialSensor: fixed build of NONE backend 
conflict with rand_float()
 2024-01-07 20:51:55 +11:00
muramura 4765ba8218 AP_InertialSensor: Specify the number of arrays by sizeof 2024-01-04 10:24:44 +11:00
Peter Barker 68d8a2606d AP_InertialSensor: SITL: call logging singleton methods only if available 2024-01-03 18:33:41 +11:00
Andrew Tridgell da7c556f77 AP_InertialSensor: avoid fcntl.h 
allows mixing of lwip and sockets
 2024-01-03 12:14:47 +11:00
Andrew Tridgell aba5ec6854 AP_InertialSensor: added support for writing raw IMU data to a UART 
this is for supporting external visual odomotry systems which need the
IMU data to correctly process image data

# Conflicts:
#	libraries/AP_InertialSensor/AP_InertialSensor.cpp
 2023-11-30 07:05:02 +11:00
Iampete1 eb4e3fc36a AP_InertialSensor: init all notch center frequencies 2023-11-28 18:05:37 +11:00
Andrew Tridgell 483d19f44c AP_InertialSensor: apply stuck gyro fix to all IxM42xxx sensors 
TDK has confirmed this applies to all IxM42xxx sensors
 2023-10-29 08:24:04 +11:00
Andy Piper 7ca2a4da56 AP_InertialSensor: remove ICM42xxx defaults 2023-10-25 19:23:11 +11:00
Andrew Tridgell 2688848cd1 AP_InertialSensor: fixed orientation of batch sampled data 
we need to rotate the data so that FFT displays match the configured
orientation
 2023-10-25 19:23:11 +11:00
Andrew Tridgell 0ebf9e7af5 AP_InertialSensor: pre-fetch instances for use in filter setup 
we use the instance numbers during filter configuration to check if
fast sampling is enabled. We need to ensure these instance numbers
have been setup before the filtering functions get called
 2023-10-25 19:23:11 +11:00