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1148 Commits

Author SHA1 Message Date
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
Andrew Tridgell aef343bfd0 AP_InertialSensor: removed old mRoControlZeroF7 config 2019-05-30 15:39:57 +10:00
Andrew Tridgell 039e7366b0 AP_InertialSensor: support new sensor config setup 2019-05-30 15:39:57 +10:00
Andrew Tridgell 3823ba539c AP_InertialSensor: rename to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell 02326ac52c AP_InertialSensor: use EXPECT_DELAY() macro 2019-05-15 15:33:48 +10:00
Andrew Tridgell 4e769730c9 AP_InertialSensor: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Phillip Kocmoud 6665e4c0a7 AP_InertialSensor: probe IMUs for mRoControlZeroF7 2019-05-10 15:05:42 +10:00
Andrew Tridgell 893b49d145 AP_InertialSensor: disable register checking in invensensev2 driver 
register checking doesn't work for the banked registers used in the
invensensev2 register layout. It ends up setting the wrong register
value in some cases, which can either cause the sensor to stop working
or in the worst case give bad data
 2019-05-10 14:55:39 +10:00
Jaaaky 47c65314fb AP_InertialSensor: fix accelcalsimple watchdog 2019-05-01 14:23:20 +10:00
Andrew Tridgell 034d476fa5 AP_InertialSensor: prevent watchdog in accelcal 2019-04-22 16:53:35 +10:00
Andrew Tridgell 9c48d001ac AP_InertialSensor: skip gyro cal on watchdog reset 2019-04-22 16:53:35 +10:00
Andrew Tridgell c988eb2fd9 AP_InertialSensor: don't set INS_ENABLE_MASK to found IMU mask 2019-04-22 14:56:59 +10:00
Andrew Tridgell c7ed4bfbcc AP_InertialSensor: allow testing of IMU failure 2019-04-22 14:56:42 +10:00
Randy Mackay 9fa742e1be AP_InertialSensor: fix compiler warning in BMI088 driver 2019-04-11 10:32:51 +09:00
Peter Barker e0fc73776c AP_InertialSensor: return floats from raw-sample-rate getters 
The underlying type changed at some stage but the getters did not
 2019-04-09 10:02:16 +10:00
Andrew Tridgell fa63243eb0 AP_InertialSensor: added BMI088 accel config retry 2019-04-08 19:58:12 +10:00
Peter Barker ef860db558 AP_InertialSensor: add floating point constant designators 2019-04-05 23:04:17 -07:00
Michael du Breuil c7a9e8bf93 AP_InertialSensor: Fix implicit include of AP_Logger 2019-04-05 20:12:53 +11:00
L Kurt Shaw d08ab88dea INS: AP_InertialSensor comments for new cubes 
Correct comments ICM20648 should have been ICM20948
 2019-04-02 10:52:43 +11:00
Tom Pittenger 3eeaa2c8df AP_InertialSensor: rename dataflash to logger 2019-03-28 16:40:57 +11:00
na 494a3f86ad AP_IntertialSensor: support ICM20601 IMU 2019-03-28 09:15:27 +11:00
Randy Mackay 5d8747c81d AP_InetialSensor: fixup ENABLE_MASK parameter desc 2019-03-27 13:14:48 +09:00
Andrew Tridgell 4a334d0ed7 AP_IneertialSensor: fixed startup race in SITL 2019-03-21 18:54:32 +11:00
Andrew Tridgell 0a718ba330 AP_IneertialSensor: fixed orientations and gyro scale factors for new Invensense IMUs 2019-03-21 18:54:32 +11:00
Siddharth Purohit 8c2d3945de AP_IneertialSensor: add support for custom accel scale 
adds support for 30g measurement on ICM20649
 2019-03-21 18:54:32 +11:00
Siddharth Purohit 3a833d9a90 AP_InertialSensor: fix rotation for ICM20649 2019-03-21 18:54:32 +11:00
Andrew Tridgell 880a55c6a2 AP_InertialSensor: fixes for BMI088 on SPI 
The sensor has an unusual SPI interface, with a pad byte on read, and
retries needed on write
 2019-03-14 16:10:40 +11:00
L Kurt Shaw 8d75e8c5bb INS: AP_InertialSensor.cpp 
Fix typo in comments should be NFC
 2019-03-12 15:56:55 +09:00
Andrew Tridgell 81cd103073 AP_InertialSensor: probe for new v2 invensense IMUs 
also suppress LSM9DS0 whoami warnings, as these will now be common
with new IMUs

and make 20602 show up as a new devtype so we can distinguish it
 2019-03-11 12:40:21 +11:00
Andrew Tridgell dff3ea416c AP_InertialSensor: allow for LSM9DS0 to be used on I2C 2019-03-10 09:03:06 +11:00
Siddharth Purohit 086b4c1cfd AP_InertialSensor: use default value for temperature scale and offset 2019-03-06 20:47:10 +11:00
Siddharth Purohit b76ec8cc11 AP_InertialSensor: fix slave register structure for Invensensev2 2019-03-06 20:47:10 +11:00
Siddharth Purohit 528c0b4d7c AP_InertialSensor: add drivers for register bank based Invensense Sensors 2019-03-06 20:47:10 +11:00
Siddharth Purohit 0cfcd0986e AP_InertialSensor: look for icm20602 for Pixhawk 2 series flight boards 2019-03-06 20:47:10 +11:00
Andrew Tridgell 103af72859 AP_InertialSensor: remove more px4 remnants 2019-02-27 20:32:37 +11:00
Andrew Tridgell 2b285089e9 AP_InertialSensor: widen allowable temp gap on invensense IMUs 
some sensors have more temperature noise
 2019-02-26 16:18:26 +11:00
Andrew Tridgell 07e2167996 AP_InertialSensor: setup for fmuv6 2019-02-26 16:18:26 +11:00
Tom Pittenger 9347e6d36f AP_InertialSensor: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell 6048c10a7c AP_InertialSensor: added driver for BMI088 
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
 2019-01-31 12:05:57 -08:00
Andrew Tridgell 9520f5f768 AP_InertialSensor: removed F4Light 2019-01-21 21:57:21 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 43e3acc954 AP_InertialSensor: remove use of never-set AP_HAL_PX4 and AP_HAL_VRBRAIN 2019-01-18 09:53:44 +11:00
Peter Barker 43e47f33e4 AP_InertialSensor: remove PX4 backend 2019-01-17 06:41:33 +11:00
Andrew Tridgell a84af85689 AP_InertialSensor: support fast sampling in SITL 
this allows testing of fast sample logs for FFT
 2019-01-08 21:04:05 +11:00
Andrew Tridgell 512c50a6c4 AP_InertialSensor: use SIM_VIB_FREQ for SITL vibrations 
this allows for testing of FFT on logs
 2019-01-08 06:49:02 +11:00
Michael du Breuil 983356213a AP_InertialSensor: Remove unused parameter 2018-12-23 12:46:37 -08:00
Randy Mackay 6b3fa520b5 AP_InertialSensor: add range to POS param description 2018-12-13 20:14:01 +09:00
Andrew Tridgell 3de860f73b AP_InertialSensor: fixed orientation of 2nd OmnibusF7V2 IMU 2018-12-12 16:27:34 +11:00
Peter Barker 011c93f38e AP_InertialSensor: add override keyword 2018-11-08 11:30:12 +11:00
Andrew Tridgell 755dc8dc5d AP_InertialSensor: use WITH_SEMAPHORE() 
and removed usage of hal.util->new_semaphore()
 2018-10-17 12:54:22 +11:00
Michael du Breuil f51d757844 AP_InertialSensor: Remove unused (and conflicting in some builds) include 2018-10-02 07:09:41 +10:00
Peter Barker 04c36efdbf AP_InertialSensor: eliminate SITL float-equals issues 2018-08-28 09:54:47 +10:00
Michael du Breuil 1efad07a84 AP_InertialSensor: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell 5f8b57ba19 AP_InertialSensor: added SITL device IDs 2018-07-13 10:19:01 +10:00
Lucas De Marchi 49d08ba72a Global: remove minlure 
Minlure is a port of ArduPilot to Minnow Board connected to daughter
board. Very few of those were produced and nobody is flying with it.

It served its purpose and all the the improvements to ArduPilot remain
regardless of it not being supported anymore. Now it's just adding
maintenance work with no clear benefit, so pull the plug.
 2018-06-26 07:32:08 -07:00
Patrick José Pereira 0c06bf89e5 AP_InertialSensor: Use SITL singleton 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-26 00:02:01 +01:00
Andrew Tridgell 89b8124560 AP_InertialSensor: added BMI055 IMU driver 2018-06-08 09:56:41 +10:00
Andrew Tridgell bfa66c9397 AP_InertialSensor: detect two IMUs on FMUv5 2018-06-06 07:15:41 +10:00
Francisco Ferreira 8b32960d3e AP_InertialSensor: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
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
Andrew Tridgell ca9d1a55fe AP_InertialSensor: support ICM-20689 IMU 
like the 20789, but without the baro
 2018-04-24 08:03:46 +10:00
Andrew Tridgell ea2dc9b831 AP_InertialSensor: added OMNIBUSF7V2 INS sensors 
a dual-IMU board
 2018-04-12 11:50:44 +10:00
Andrew Tridgell f788cde5c7 AP_InertialSensor: use multiply for fifo scale factors 
this fixes issue from #8118 too
 2018-04-10 14:17:16 +10:00
Peter Barker be634a893f AP_InertialSensor: remove unused ins error count logging 2018-04-04 14:21:20 +01:00
Peter Barker aca87ab638 AP_InertialSensor: remove pointless initialisations 
AP_InertialSensor: avoid pointless zeroing in constructor

AP_InertialSensor is either in bss or is created via new (which zeroes
memory)
 2018-04-04 12:14:02 +01:00
Peter Barker 2396a248ed AP_InertialSensor: use ahrs singleton for simple accelcal 2018-04-02 23:25:05 +01:00
Lucas De Marchi c4e8aeb105 AP_InertialSensor: remove linux-only include 
We already include AP_HAL.h that includes the platform-agnostic gpio
header, which is all that this driver needs. This is an alternative
fix to #7794.
 2018-03-09 11:12:31 -08:00
Andrew Tridgell 53b76efbd2 AP_InerialSensor: setup INT_PIN_CFG correctly 
this restores the behavior lost with the 20789 driver change
 2018-03-08 21:25:14 -08:00
Andrew Tridgell e8726865ab AP_InertialSensor: Correct scaling of batch data 2018-03-08 18:00:16 -08:00
Andrew Tridgell 455c0e25e1 AP_InertialSensor: allow for HAL_INS_NONE 2018-03-02 12:52:50 +11:00
Peter Barker 4288133ce0 AP_InertialSensor: correct compiler warning 
../../libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h:108:14:
warning: private field '_error_count' is not used
[-Wunused-private-field]
    uint16_t _error_count;
 2018-03-02 09:26:37 +09:00
Andrew Tridgell b61caa9c57 AP_InertialSensor: added SP01 board type 2018-02-14 18:27:00 +11:00
Peter Barker 096f7367bf AP_InertialSensor: add ins() to AP:: namespace 2018-02-13 17:15:05 +11:00
Andrew Tridgell b5e5b622c7 AP_InertialSensor: use register header for Revo driver 2018-02-10 09:14:41 +11:00
Andrew Tridgell 0e6497aa85 AP_InertialSensor: merged in Revo driver 2018-02-10 09:14:41 +11:00
Andrew Tridgell b380143349 AP_InertialSensor: improved handling of I2C invensense sensor 
on I2C the lower bus bandwidth changes the tradeoffs
 2018-02-08 17:36:33 +11:00
Andrew Tridgell b33c815e96 AP_InertialSensor: added whoami for prototype 20789 2018-02-08 17:36:33 +11:00
Andrew Tridgell ad8db6cda3 AP_InertialSensor: added sensor type ICM20789_SPI 2018-02-08 17:36:33 +11:00
Andrew Tridgell b9e5649888 AP_InertialSensor: support PCNC1 2018-02-08 17:36:33 +11:00
Peter Barker 71cf3941a7 AP_InertialSensor: move Invensense register defines into separate file 2018-02-08 17:36:33 +11:00
Peter Barker 3ee112843c AP_InertialSensor: configure bypass for 20789 like we do for AK8963 2018-02-08 17:36:33 +11:00
Peter Barker 5d94172ada AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in user_ctrl 
This bit should never be set on 20789
 2018-02-08 17:36:33 +11:00
Andrew Tridgell 5a4f0fed2d AP_InertialSensor: added ICM-20789 support 2018-02-08 17:36:33 +11:00
Andrew Tridgell f4521772c1 AP_InertialSensor: don't try fast sampling on a MPU6500 
it can't do it
 2018-02-07 20:33:45 +11:00
Andrew Tridgell d575d676b6 AP_InertialSensor: fixed another transfer without bus semaphore 2018-02-07 20:33:45 +11:00
Andrew Tridgell 2ffb8d1583 AP_InertialSensor: fixed a bug where bus semaphore not held 
during init of the invensense driver we could do a transfer without
the bus semaphore held. That violates the locking rules for the bus
 2018-02-07 20:33:45 +11:00
Igor Anokhin e6d4b2a087 AP_InertialSensor: add LSM9DS1 entry 
Enable LSM9DS1 in case it is selected
 2018-02-06 09:31:26 -08:00
Igor Anokhin be386b2b73 AP_InertialSensor: LSM9DS1 add FIFO support 
Make reading data with FIFO
 2018-02-06 09:31:26 -08:00
Igor Anokhin 44d5112488 AP_InertialSensor: add LSM9DS1 support 
Make LSM9DS1 driver
 2018-02-06 09:31:26 -08:00
LukeMike 502f19cbae VRBRAIN / AP_InertialSensor: added inertial sensors init for VR Brain boards 2018-02-05 08:26:49 +11:00
Randy Mackay 9ea16bec15 AP_InertialSensor: resolve compiler warning in example 2018-01-23 08:32:48 +09:00
Andrew Tridgell 100363ba03 AP_InertialSensor: if no sensors found allow parameter change 2018-01-20 10:36:22 +11:00
Andrew Tridgell 24c424ae5d AP_InertialSensor: support over 1kHz IMUs 
this allows for invensense IMUs to run above 1kHz by adjusting the
downsampling rate
 2018-01-20 10:36:22 +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
Andrew Tridgell 9416165fe3 AP_InertialSensor: improved invensense debugging on ChibiOS 2018-01-20 10:36:22 +11:00
Andrew Tridgell 8ab35e8aca AP_InertialSensor: fixed MindPX-v2 orientation of IMU2 2018-01-15 11:46:02 +11:00
Andrew Tridgell dcab40459d AP_InertialSensor: support MindPX-v2 2018-01-15 11:46:02 +11:00
Andrew Tridgell febe414766 AP_InertialSensor: disable fast sampling on 2nd IMU on Pixracer 
it also hosts a mag, and gets lots of FIFO resets if we try to run it
at 8kHz
 2018-01-15 11:46:02 +11:00
Andrew Tridgell 3fc095589c AP_InertialSensor: support ChibiOS FMUv4 2018-01-15 11:46:02 +11:00
bugobliterator 1c6beaa7c4 AP_InertialSensor: use new API for DMA safe allocation 2018-01-15 11:46:02 +11:00
Andrew Tridgell 39362a81ae AP_InertialSensor: support ChibiOS 2018-01-15 11:46:02 +11:00
Tom Pittenger 36f06d3576 AP_InertialSensor: remove AP_InertialSensor_UserInteract 
leftover dead code from when CLI was removed
 2018-01-11 08:11:07 +11:00
Pierre Kancir 8c8767e964 AP_InertialSensor: reduce QURT include scope 2017-12-27 15:13:30 +00:00
Andrew Tridgell 99499dece2 AP_InertialSensor: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Andrew Tridgell 39c206ca03 AP_InertialSensor: limit delta-time from INS 
limit delta-time to 2x average time

DEBUG CODE - DO NOT MERGE
 2017-12-12 11:39:38 +11:00
Andrew Tridgell a0af4af5b5 AP_InertialSensor: debugging code for EK2 bug 2017-12-12 11:39:38 +11:00
Randy Mackay 38145f9541 AP_InertialSensor: fix param docs for notch and log settings 2017-12-12 07:59:41 +09:00
Peter Barker 161e2145cb AP_InertialSensor: tighten type of simple_accel_cal result 2017-12-01 17:01:10 +00:00
HeBin c056076e85 AP_InertialSensor: fix code style problem, delete useless codes 2017-11-22 10:20:00 -08:00
HeBin efbb030494 AP_InertialSensor: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
Andrew Tridgell eab1d3af4f AP_InertialSensor: don't apply offsets in SITL backend 
the offsets are applied in the rotate and correct methods
 2017-11-01 17:09:21 +11:00
Peter Barker b997f445ff AP_InertialSensor: include sample count in ISBH 2017-10-27 16:33:45 +11:00
Peter Barker 9566abb3a8 AP_InertialSensor: add IMU batch sampling 2017-10-27 16:33:45 +11:00
Peter Barker 5096e2fca9 AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw 2017-10-27 16:33:45 +11:00
Alexey Bulatov 069c98b8a9 AP_InertialSensor: Edge: add sensor's rotation YAW_90 2017-10-20 13:03:08 -07:00
Georgii Staroselskii ac6f7511bd AP_InertialSensor: examples: print temperature 2017-10-20 13:03:08 -07:00
Georgii Staroselskii 4f2d8f8df4 AP_InertialSensor: use ICM backend for Edge 2017-10-20 13:03:08 -07:00
Andrew Tridgell 6a6f9681ab AP_InertialSensor: allow for 1,1,1 accel scaling 
this supports simple accel calibration
 2017-10-10 10:57:38 +11:00
Andrew Tridgell f513c1c8dd AP_InertialSensor: support rotated IMUs in SITL 2017-10-10 10:57:38 +11:00
Andrew Tridgell d5cab1140a AP_InertialSensor: added simple_accel_cal() 
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
 2017-10-10 10:57:38 +11:00
Lucas De Marchi b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi d566567d87 AP_InertialSensor: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi caa4e3ee89 AP_InertialSensor: remove raspilot 2017-09-12 15:06:19 -07:00
Lucas De Marchi 06fe5ce8ba AP_InertialSensor: implement periodic thread for AuxiliaryBus 2017-09-11 09:52:41 -07:00
Andrew Tridgell 7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Kevin Lopez Alvarez ca3627c140 AP_InertialSensor: add ppro support 2017-07-24 13:47:06 +10:00
Randy Mackay 51fa8fb0bd AP_InertialSensor: resolve member init order compiler warning 2017-07-07 17:27:23 +09:00
Randy Mackay edc9d4db5b AP_InertialSensor: increase accel filter to 20hz 2017-07-03 09:38:15 +09:00
Peter Barker 6ae86a0b8c AP_InertialSensor: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Leonard Hall 447b20efa5 AP_InertialSensor: reduce accel filter to 10hz 2017-06-01 14:53:48 +09:00
Andrew Tridgell 62b826953d AP_InertialSensor: use AP_Math rand_float() 2017-05-03 20:12:04 +10:00
Andrew Tridgell bfd8d151c8 AP_InertialSensor: lower slave rate with fast sampling 
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
Andrew Tridgell 519a293af9 AP_InertialSensor: fixed instance usage in set_gyro_oversampling() 
thanks Francisco!
 2017-05-02 08:27:11 +10:00
Andrew Tridgell 112b22516a AP_InertialSensor: fixed use of accel2_noise 
thanks Francisco!
 2017-05-02 08:24:50 +10:00
Andrew Tridgell 2876f1467c AP_InertialSensor: converge sensor rate quickly, then slowly 
converge fast for the first 60 seconds, then more slowly to reduce
noise
 2017-05-01 15:13:56 +10:00
Andrew Tridgell db25b6e966 AP_InertialSensor: estimate and log sensor rates for all IMUs 
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
Andrew Tridgell 49cc0965c0 AP_InertialSensor: separate handling of FIFO and non-FIFO sensors 
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
Andrew Tridgell 74eb7a7243 AP_InertialSensor: make SITL sensor rate match a Pixhawk1 
use 760Hz 2nd gyro and 800 Hz 2nd accel
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 25cd16a275 AP_InertialSensor: fixed LSM303D registered sample rate 
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
Andrew Tridgell e62fdad12c AP_InertialSensor: added get_last_update_usec() 
this will be used by the inter-EKF scheduling changes
 2017-05-01 14:24:55 +10:00
Andrew Tridgell c952e58edb AP_InertialSensor: fixed invensense driver temp reading 
different parts have quite different zero offsets in temperature
 2017-04-03 10:06:27 +10:00
Lucas De Marchi 2e4e4365d0 AP_InertialSensor: enable fast sampling for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 87846fe049 AP_InertialSensor: use MPU6500 on aerofc 2017-03-24 12:06:19 +11:00
Andrew Tridgell 875274e761 AP_InertialSensor: added support for ICM-20602 
treat the same as a 20608
 2017-03-02 14:21:36 +11:00
Andrew Tridgell b86513f503 AP_InertialSensor: support AUAV21 board 2017-03-01 17:24:10 +11:00
Lucas De Marchi 2d50eb312c AP_InertialSensor: add support to MPU6500 
Just like and MPU9250 without mag and with different WHOAMI register.
 2017-02-26 13:37:13 +11:00
murata a3f5b4f319 AP_InertialSensor: Change from magic number 0 to definition name. 2017-02-18 14:12:36 +00:00
Lucas De Marchi 9535b45cc9 AP_InertialSensor: examples: fix double to float warnings 
While at it add function prototype.
 2017-02-12 01:22:35 +00:00
Andrew Tridgell 01da36295d AP_InertialSensor: support the L3GD20H gyro 
this is used by the MRo Pixhawk1
 2017-01-31 07:39:36 +11:00
murata 0733d760f6 AP_HAL_VRBRAIN: Unify from print or println to printf. 
AP_InertialSensor: Unify from print or printin to printf.
 2017-01-27 18:20:22 +11:00
murata 2643e7e906 AP_InertialSensor: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Julien Beraud 3d9dacb227 AP_InertialSensor: push gyro data for opticalflow 
Do it only if there is an optical flow in the current HAL
 2017-01-23 21:23:16 +11:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
mirkix 62fabca19d AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963 2017-01-11 21:44:24 -08:00
Randy Mackay 946d30476a AP_InertialSensor: fix whoami for MPU6k 2017-01-05 10:29:51 +09:00
murata d56bad781f AP_InertialSensor: change if statements to switch statement 
No functional change
 2016-12-24 12:23:59 +09:00
murata 398b7b83dd AP_InertialSensor: minor formatting fixes 
No functional change
 2016-12-24 12:23:58 +09:00
Lucas De Marchi 9569ed94a9 AP_InertialSensor: Invensense: use capital letters for define 2016-12-20 09:23:30 +09:00
Andrew Tridgell a30745903a AP_InertialSensor: use ACC2_BIAS 2016-12-19 08:07:15 +11:00
priseborough 60ebe97e10 AP_InertialSensor: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
Andrew Tridgell 65b9b86099 AP_InertialSensor: unify MPU6000 and MPU9250 drivers 
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
Pierre Kancir de05e6ba29 InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 12:39:30 -08:00
Pierre Kancir 13c16e187f InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 10:59:45 -08:00
Randy Mackay dfd58cc57b AP_InertialSensor: fix build warning for MPU9250 2016-11-30 18:00:14 +09:00
Randy Mackay 699279ed1f AP_InertialSensor: fix build warning for MPU6000 2016-11-30 18:00:13 +09:00
Andrew Tridgell f9845c93b1 AP_InertialSensor: keep transfers nicely setup for DMA on stm32 
this avoids using stack based bounce buffers which may not support DMA
on stm32
 2016-11-27 11:26:10 +11:00
Andrew Tridgell 771cedca3d AP_InertialSensor: reduced number of SPI transfers 
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
 2016-11-26 19:02:22 +11:00
Andrew Tridgell 27605b0258 AP_InertialSensor: run invensese reg checking at low speed 
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
Andrew Tridgell 0f984290c3 AP_InertialSensor: enable fast sampling by default on some boards 2016-11-25 17:59:54 +11:00
Andrew Tridgell f3a778f980 AP_InertialSensor: fixed freeing of fifo buffer 2016-11-25 17:50:19 +11:00
Andrew Tridgell 6f28c61c8d AP_InertialSensor: changed SIZE to LEN 
thanks to Lucas for suggestion
 2016-11-25 17:50:19 +11:00
hiro2233 cb7f46d653 AP_InertialSensor: fixed handling of user_ctrl register 
with aux bus implementations
 2016-11-25 17:50:18 +11:00
Andrew Tridgell 9b4c588c09 AP_InertialSensor: adapt drivers for SPI-DMA capable systems 
no longer need accumulate() transfers with SPI enabled DMA on stm32
 2016-11-25 17:49:58 +11:00
Andrew Tridgell 28daddaaf2 AP_InertialSensor: don't use accumulate approach on Linux or I2C 2016-11-25 17:49:57 +11:00
Andrew Tridgell d9c8db7024 AP_InertialSensor: implement a new strategy for fast sampling 
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
Lucas De Marchi 87c6d5da13 AP_InertialSensor: replace panic() with return 
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
Andrew Tridgell 6129b1abb6 AP_InertialSensor: wait forever for semaphore on startup 
some boards take a silly amount of time to get semaphore on startup
 2016-11-21 17:57:21 -02:00
Andrew Tridgell 216cf53922 AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 
this prevents temporary corruption of INS data on FIFO overflow
 2016-11-19 12:54:22 +11:00
Andrew Tridgell 18d4286166 AP_InertialSensor: fixed pixfalcon 9250 detection 2016-11-18 14:24:39 +11:00
Andrew Tridgell cb1a5d4c74 AP_InertialSensor: take semaphore for update of accumulators 
this fixes a race in update of delta angle and delta velocity between
backend and frontend
 2016-11-18 06:32:17 +11:00
Andrew Tridgell f3f1f6b0b6 AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk 2016-11-16 20:33:56 +11:00
Andrew Tridgell 6af00027ab AP_InertialSensor: removed unused variables 
thanks to Francisco for noticing
 2016-11-16 08:41:06 +11:00
Francisco Ferreira 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
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 8d19808152 AP_InertialSensor: fixed missing checked register goto 
thanks to Francisco for spotting
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 49856c37f2 AP_InertialSensor: reduce checked register count 
thanks to Francisco for spotting this
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 4be8f05ad4 AP_InertialSensor: added register checking for LSM9DS0 2016-11-11 08:08:56 +11:00
Andrew Tridgell 77a83c091a AP_InertialSensor: added register checking for MPU6000/ICM20608 2016-11-11 08:08:56 +11:00
Andrew Tridgell 95a849f472 AP_InertialSensor: added register checking for MPU9250 2016-11-11 08:08:56 +11:00
Andrew Tridgell 3289e90134 AP_InertialSensor: added error count increments in drivers 2016-11-11 08:08:55 +11:00
Andrew Tridgell 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
Andrew Tridgell af0ec41652 AP_InertialSensor: fixed accel clip detection with fast sampling 
we need to check on every sample at the full rate
 2016-11-10 13:39:17 +11:00
Andrew Tridgell 70c27a85de AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz 2016-11-10 13:04:15 +11:00
Andrew Tridgell 1ea4c6938c AP_InertialSensor: allow auxiliary bus with fast sampling 2016-11-10 11:44:52 +11:00
Andrew Tridgell 8da42b7a8b AP_InertialSensor: fixed temperature for fast sampling case 2016-11-10 11:44:52 +11:00
Andrew Tridgell cb70bae167 AP_InertialSensor: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell 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
Andrew Tridgell 46785e8ecf AP_InertialSensor: improved method for FIFO integrity checking 
check temperature every 255 samples against FIFO data
 2016-11-10 11:44:51 +11:00
Andrew Tridgell 8a3f6a8902 AP_InertialSensor: use FIFO and implement fast sampling for MPU9250 2016-11-10 11:44:51 +11:00
Andrew Tridgell e25a391a8f AP_InertialSensor: fixed typo 2016-11-09 17:08:15 +11:00
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 7137d5c6f2 AP_InertialSensor: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell 84c3e29891 AP_InertialSensor: use AP_HAL rotations for MPU6000 2016-11-09 17:08:14 +11:00
Andrew Tridgell 2f01dfe81c AP_InertialSensor: fixed from review by Lucas 2016-11-09 17:08:13 +11:00
Andrew Tridgell 81b933d9d0 AP_InertialSensor: use int32_t summation for fast sampling 
very slightly faster
 2016-11-09 17:08:13 +11:00
Andrew Tridgell 03b7bc9e65 AP_InertialSensor: use internal drivers for PHMINI 
this gets us fast sampling
 2016-11-09 17:08:12 +11:00
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell bd84e592f8 AP_InertialSensor: check for NULL device pointer in probe() 
handle missing devices
 2016-11-09 17:08:10 +11:00
Andrew Tridgell 3d7d773883 AP_InertialSensor: added support for ICM20608 on Pixracer 2016-11-09 17:08:08 +11:00
Andrew Tridgell 2c1e9024f1 AP_InertialSensor: detect missing accels or gyros 2016-11-09 17:08:07 +11:00
Andrew Tridgell 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
Andrew Tridgell 408593465f AP_InertialSensor: fixed rotation for mpu9250 on pixracer 2016-11-09 17:08:07 +11:00
Andrew Tridgell 790dd4769b AP_InertialSensor: simplify rotations for MPU9250 2016-11-09 17:08:07 +11:00
Andrew Tridgell aa4025bdf9 AP_InertialSensor: make INS sensor IDs match for PX4 
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
 2016-11-09 17:08:06 +11:00
Andrew Tridgell 9e7e1b2f01 AP_InertialSensor: fixed merge conflicts with patches from Lucas 2016-11-09 17:08:06 +11:00
Lucas De Marchi 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
Lucas De Marchi 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
Lucas De Marchi 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
Andrew Tridgell 0a1616cc71 AP_InertialSensor: use correct device IDs on PX4 driver 2016-11-09 17:08:05 +11:00
Lucas De Marchi 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
Lucas De Marchi 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
Lucas De Marchi f81dba2100 AP_InertialSensor: add doc to get_id() of backend 
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
Lucas De Marchi 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
Andrew Tridgell 64a5d3938c AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus 2016-11-09 17:08:04 +11:00
Andrew Tridgell ac2c25539b AP_InertialSensor: implement device IDs for AuxilaryBus 2016-11-09 17:08:04 +11:00
Andrew Tridgell 4ef92b5e39 AP_InertialSensor: enable all 3 IMUs on PH2 2016-11-09 17:08:04 +11:00
Andrew Tridgell 5cf768ced2 AP_InertialSensor: fixed missing return 2016-11-09 17:08:02 +11:00
Andrew Tridgell 38ff8b3536 AP_InertialSensor: removed unused product_id function in L3G4200D 2016-11-09 17:08:01 +11:00
Andrew Tridgell a5c5e033d2 AP_InertialSensor: fixed threading and locking in remaining backends 
use a backend semaphore for shared data and use thread per bus where
available
 2016-11-09 17:08:01 +11:00
Andrew Tridgell b92c48548a AP_InertialSensor: added per-instance rotation for LSM9DS0 2016-11-09 17:08:00 +11:00
Andrew Tridgell 2df6ed08c2 AP_InertialSensor: added optional per-instance orientation 
this is needed for multi-sensor boards to get orientation right for
each sensor
 2016-11-09 17:08:00 +11:00
Andrew Tridgell ac2572384d AP_InertialSensor: added start() method for LSM9DS0 
needed to get sensor ordering right on multi-sensor boards
 2016-11-09 17:08:00 +11:00
Andrew Tridgell 7832f1a1b6 AP_InertialSensor: allow for in-tree drivers for PX4 2016-11-09 17:07:58 +11:00
Andrew Tridgell 919aa61918 AP_InertialSensor: support AuxiliaryBus without register_periodic_callback() 2016-11-09 17:07:57 +11:00
Andrew Tridgell 2b66df68a1 AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000 2016-11-09 17:07:56 +11:00
Andrew Tridgell 90dc9e3327 AP_InertialSensor: dummy implementation of register_periodic_callback() 
for AuxiliaryBus
 2016-11-09 17:07:55 +11:00