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
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
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
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
Andy Piper
143a071788
AP_InertialSensor: add rpm-based motor noise to gyros and accels
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Remove sample time error in backend.
2019-12-17 10:07:06 +11:00
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
c7ed4bfbcc
AP_InertialSensor: allow testing of IMU failure
2019-04-22 14:56:42 +10:00
Peter Barker
ef860db558
AP_InertialSensor: add floating point constant designators
2019-04-05 23:04:17 -07:00
Andrew Tridgell
a84af85689
AP_InertialSensor: support fast sampling in SITL
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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
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this allows for testing of FFT on logs
2019-01-08 06:49:02 +11:00
Peter Barker
04c36efdbf
AP_InertialSensor: eliminate SITL float-equals issues
2018-08-28 09:54:47 +10:00
Andrew Tridgell
5f8b57ba19
AP_InertialSensor: added SITL device IDs
2018-07-13 10:19:01 +10:00
Patrick José Pereira
0c06bf89e5
AP_InertialSensor: Use SITL singleton
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-06-26 00:02:01 +01:00
Andrew Tridgell
a0af4af5b5
AP_InertialSensor: debugging code for EK2 bug
2017-12-12 11:39:38 +11:00
Andrew Tridgell
eab1d3af4f
AP_InertialSensor: don't apply offsets in SITL backend
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the offsets are applied in the rotate and correct methods
2017-11-01 17:09:21 +11:00
Andrew Tridgell
f513c1c8dd
AP_InertialSensor: support rotated IMUs in SITL
2017-10-10 10:57:38 +11:00
Andrew Tridgell
62b826953d
AP_InertialSensor: use AP_Math rand_float()
2017-05-03 20:12:04 +10:00
Andrew Tridgell
112b22516a
AP_InertialSensor: fixed use of accel2_noise
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thanks Francisco!
2017-05-02 08:24:50 +10:00
Andrew Tridgell
74eb7a7243
AP_InertialSensor: make SITL sensor rate match a Pixhawk1
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use 760Hz 2nd gyro and 800 Hz 2nd accel
2017-05-01 15:06:46 +10:00
Andrew Tridgell
a30745903a
AP_InertialSensor: use ACC2_BIAS
2016-12-19 08:07:15 +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
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
murata
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
priseborough
470f5c4562
AP_InertialSensor: Correct SITL IMU1 accel for position in body frame
2016-10-27 14:54:45 +11:00
Mathieu OTHACEHE
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
Andrew Tridgell
24d8610013
AP_InertialSensor: use SIM_GYR_SCALE in SITL
2016-01-19 15:29:08 +11:00
Caio Marcelo de Oliveira Filho
d7601095fa
AP_InertialSensor: use millis/micros/panic functions
2015-11-20 12:31:41 +09:00
Andrew Tridgell
4a768d47f3
AP_InertialSensor: created a SITL specific backend
2015-11-16 17:57:35 +11:00