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1093 Commits

Author SHA1 Message Date
Andrew Tridgell bdb364d461 AP_InertialSensor: save the accelerometer ID parameters 
this is needed for factory accel cal
 2021-01-27 09:49:35 +11:00
Andrew Tridgell 2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell 6c8a57c2d7 AP_InertialSensor: review fixes 2021-01-21 13:09:21 +11:00
Andrew Tridgell 3ff71c7814 AP_InertialSensor: changes from review feedback 2021-01-21 13:09:21 +11:00
Andrew Tridgell b12a663f7a AP_InertialSensor: apply accel scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell 73ddde3629 AP_InertialSensor: changes for new SITL IMU params 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 dc58b0b950 AP_InertialSensor: changes from review feedback 
thanks Sid!
 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 7cb7ad3636 AP_InertialSensor: fixed build error 2021-01-21 13:09:21 +11:00
Andrew Tridgell 2e9f61fe49 AP_InertialSensor: fixed IMU index display in msgs 
start at 1 for users
 2021-01-21 13:09:21 +11:00
Andrew Tridgell d5b511f4a0 AP_InertialSensor: fixed start timer for temperature in SITL 
when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
 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 
use INS_TCAL1_ENABLE=2 to start learning
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 6f6f89e5aa AP_InertialSensor: enable temperature sensor on LSM9DS0 
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 4bdf506d10 AP_InertialSensor: apply 1e-5 scale factor 
this keeps the params in a reasonable range for parameter editors
 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
Peter Barker 239b09fb34 AP_InertialSensor: add simulator for ICM40609 2021-01-12 17:43:36 +11:00
Andrew Tridgell 957842f7eb AP_InertialSensor: added support for v3 Invensense sensors 
starting with ICM-40609, ICM-42688 and ICM-42605
 2021-01-11 14:43:35 +11:00
Andrew Tridgell b74e5c0e2f AP_InertialSensor: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell 4f176c25de AP_InertialSensor: relax IMU wait time for low loop rates 
allow for waiting for all IMUs for up to 1/3 of the loop time
 2021-01-05 21:13:12 +11:00
murata 219dc2e7da AP_InertialSensor: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
Andy Piper 3db6203fb6 AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention 2020-12-23 18:03:12 +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
Peter Barker 2437cf8a24 AP_Logger: use instance number for IMU logging 2020-11-11 19:31:53 +11:00
Andrew Tridgell f6c45c3bcd AP_InertialSensor: cope with INS_MAX_INSTANCES < 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell e8f21d3458 AP_InertialSensor: fixed rpm indexing for vtol motors 
quadplane vtol motors start at 1
 2020-10-28 14:20:44 +11:00
Michael du Breuil c86dcf91d6 AP_InertialSensor: Run vibration monitoring on all instances 2020-10-24 09:54:04 +11:00
Peter Barker 02c9aa2ae2 AP_InertialSensor: remove unused define 2020-10-20 11:24:34 +11:00
mhefny 02daa4c3ec AP_InertialSensor: update L3G4200D driver 2020-10-06 09:27:26 -07:00
Andrew Tridgell cfc59497f6 AP_InertialSensor: trigger internal error on persistent IMU reset 
this will give users a warning when they are getting the Invensense
IMU FIFO reset issue
 2020-09-02 06:42:44 +10:00
Andrew Tridgell d5c0522651 AP_InertialSensor: instantiate SIM_IMU_COUNT sensors in SITL 2020-08-28 10:17:00 +10:00
bugobliterator 4cdb4b74f3 AP_InertialSensor: add support for checked register in Invensensev2 Drvr 2020-08-06 12:41:35 +10:00
Andy Piper e53a43461b AP_InertialSensor: remove ICM gyro pre-filter 2020-08-04 09:24:16 +10:00
bugobliterator 43c16cd417 AP_InertialSensor: ensure that we use environment Python interpreter 2020-08-03 14:02:09 +10:00
Andy Piper d4ba821297 AP_InertialSensor: make the backend fast gyro rate configurable and independent from the accel rate 
allow fast sampling of gyros on MPU6000 and MPU6500
 2020-07-28 20:47:16 +10:00
Andy Piper 05366e9aa9 AP_InertialSensor: delegate active harmonic calculation to the filter 2020-07-14 09:50:06 +10:00
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
duccan cdcdd5ce27 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 
Rework after review:
- Kept old IMU and barometer definition of crazyflie 2.0 in hwdef
- Added comment regarding soft-reset command
- Added defaults.parm for crazyflie
 2020-06-07 07:49:37 +10:00
duccan 0d96c7f7a5 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 2020-06-07 07:49:37 +10:00
Andrew Tridgell cab3630009 AP_InertialSensor: switched to supplying timestamps for SITL 
this allows the time step to change on each loop as we no longer use
the average sensor rate when calculating deltas
 2020-06-03 18:11:06 +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 d0a241597a AP_InertialSensor: add support for double harmonic notches to more effectively target wider noise peaks 2020-04-28 09:32:02 +10:00
Andrew Tridgell 5c6749ee54 AP_InertialSensor: use wait_pin() to wait for DRDY pin if available 2020-04-23 07:28:13 +10:00
Peter Barker efbf929bc0 AP_InertialSensor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Andrew Tridgell d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Andrew Tridgell d8b33bcac9 AP_InertialSensor: suppress expected errors from invensense IMUs 2020-03-11 16:30:06 +11:00
Andy Piper 507bd9eea9 AP_InertialSensor: add in user-specified background noise when there is no rpm noise 2020-02-25 08:35:09 +11:00
Andy Piper 41b41c05f3 AP_InertialSensor: scale SITL motor noise by SIM_VIB_MOT_MULT 2020-02-22 11:15:37 +11:00
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
Peter Barker ab7ee46423 AP_InertialSensor: mark some parameters as Calibration parameters 2020-02-04 20:29:09 +11:00
Randy Mackay b7f6f4a05e AP_InertialSensor: reduce POS param range to 5m and add increment 2020-02-01 08:46:03 +09:00
Andrew Tridgell 58708c483f AP_InertialSensor: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell b89c241329 AP_InertialSensor: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER 
this makes for cleaner and smaller code as the failure case is not
needed
 2020-01-19 20:19:30 +11:00
Andy Piper 52f59fb573 AP_InertialSensor: more accurately compute INS noise taking throttle into account and adding frequency noise noisily 
make SITL fast-sampling correct
 2019-12-31 10:34:02 +11:00
Andrew Tridgell e52a3b9978 AP_InertialSensor: default fast sampling on 
if we have a first IMU capable of fast sampling then we want it
enabled by default
 2019-12-23 09:55:07 +11:00
Andy Piper 143a071788 AP_InertialSensor: add rpm-based motor noise to gyros and accels 
Remove sample time error in backend.
 2019-12-17 10:07:06 +11:00
Andy Piper 7e35622015 AP_InertialSensor: correct loop rate on BMI055, clean up setting of loop rate on BMI055 and BMI088 2019-12-09 13:29:34 +11:00
Andy Piper 763089addb AP_InertialSensor: slight improvement to LOG_BAT_OPT docs. 2019-12-01 12:19:46 +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
Andrew Tridgell eb582ac0cc AP_InertialSensor: avoid SITL build on non-SITL 2019-11-17 20:10:54 +11:00
Mark Whitehorn 00948c33d5 AP_InertialSensor: rename sensor_config_error to config_error 2019-11-08 10:14:34 +11:00
Andrew Tridgell 236ce28339 AP_InertialSensor: updated for heater changes 2019-11-02 16:31:04 +11:00
Andy Piper 6381183aa3 AP_InertialSensor: expose harmonic notch tracking mode 2019-10-31 11:18:40 +08:00
Andrew Tridgell d6e17b0c2b AP_InertialSensor: publish an IMU temperature 
makes testing of mavlink extension easier
 2019-10-10 13:23:03 +11:00
Andrew Tridgell 850892c3d9 HAL_ChibiOS: fixes from LGTM errors 2019-09-22 18:35:15 +10:00
Andy Piper 8e385d7453 AP_InertialSensor: correct formatting 2019-09-11 18:41:05 +10:00
Andy Piper 5b7f9f6bea AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value 2019-09-11 18:41:05 +10:00
Andy Piper a9a7fe3ea5 AP_InertialSensor: ensure harmonic notch gets appropriate defaults 2019-09-11 18:41:05 +10:00
Andy Piper 3261677e01 AP_InertialSensor: remove _ prefix from methods. use changed filter methods. 2019-09-11 18:41:05 +10:00
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
Andy Piper dde6dec145 AP_InertialSensor: correct reboot documentation for batch logger and filters 2019-09-10 20:29:56 +10:00
Andrew Tridgell 15e15e0b9d AP_InertialSensor: define GET_I2C_DEVICE() 2019-09-04 16:27:47 +10:00
Andrew Tridgell 1c92ecc89f AP_InertialSensor: removed old method of specifying most IMUs 
and removed dangerous default values for rotations
 2019-08-28 06:54:11 +10:00
Andrew Tridgell c99923d500 AP_InertialSensor: require gyro orientations in LSM9DS probe 
this prevents a bug where they are missing in hwdef.dat
 2019-08-27 19:29:37 +10:00
Andrew Tridgell 992016069a AP_InertialSensor: fixed watchdog on AHRS trim gyro wait 2019-08-19 14:37:46 +10:00
Andrew Tridgell e1ce735886 AP_InertialSensor: special check for CubeBlack to force INS_USE3=1 
this will cope with users loading old parameter files
 2019-07-31 12:53:57 +10:00
Andrew Tridgell 123800ccd2 AP_InertialSensor: default INS_USE3 to 1 2019-07-31 12:53:57 +10:00
Randy Mackay 6a154c4e4c AP_InertialSensor: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Andrew Tridgell 8e5c0fa32b AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES 2019-07-07 19:03:01 +10:00
Andrew Tridgell 09d3392aee AP_InertialSensor: zero accumulators on time step 
this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
 2019-07-07 19:03:01 +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 31ea3466af AP_InertialSensor: Post-filter logging takes precedence over sensor-rate logging. 2019-06-06 17:09:17 +10:00
Andy Piper 36878e9b3c AP_InertialSensor: Allow all filter frequencies to be 16bit. 2019-06-06 17:09:17 +10:00
Andy Piper fff81a2163 AP_InertialSensor: Make sure the LPF output is used by the notch input. 2019-06-06 17:09:17 +10:00
Andy Piper 18d403c3ac AP_InertialSensor: Rework notch filter allocation and sampling 
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