Andrew Tridgell
045efdb084
AP_InertialSensor: fixed example builds
2014-01-30 13:33:38 +11:00
Andrew Tridgell
58d3729d16
AP_InertialSensor: fixed default health functions
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this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
2014-01-22 22:08:28 +11:00
Don Gagne
68b3b31499
Param doc typo
2014-01-18 10:18:58 +09:00
Randy Mackay
965e5b2dfd
INS: check for good calibration for 10seconds
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Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration. This restores the total time to 10
seconds.
2014-01-17 12:48:11 +09:00
Randy Mackay
1f76ada9dd
INS: shortened gyro calibration
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Removed delays before calibration, reduced number of samples taken,
widened convergence criteria
2014-01-16 13:40:49 +09:00
Randy Mackay
a400ddeb88
INS: replace APM with vehicle in accel calibrate
2013-12-28 10:41:49 +09:00
Andrew Tridgell
8dd34f8bc4
AP_InertialSensor: fixed example build
2013-12-17 11:51:37 +11:00
Andrew Tridgell
6d39cf5e49
AP_InertialSensor: another attempt at fixing the spurious bad gyro health warnings
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cope with _get_sample() not being called for a while
2013-12-14 15:47:49 +11:00
Andrew Tridgell
99e2dc87c9
AP_InertialSensor: prevent INS healthy errors while initialising
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during gyro cal we shouldn't mark the gyro unhealthy
2013-12-13 20:47:24 +11:00
Andrew Tridgell
23a112c5d5
AP_InertialSensor: reduce the number of format string warnings
2013-12-11 17:29:27 +11:00
Andrew Tridgell
433ad19335
AP_InertialSensor: fixed loop limits
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stops pointless operations
2013-12-11 14:57:13 +11:00
Andrew Tridgell
e54fc6b8e3
AP_InertialSensor: make sure we wait for a sample before update()
2013-12-11 13:50:50 +11:00
Andrew Tridgell
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
2013-12-09 20:02:04 +11:00
Andrew Tridgell
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
2013-12-09 17:34:06 +11:00
Andrew Tridgell
d9b6f7f0f7
AP_InertialSensor: implement up to two sensors on PX4
2013-12-09 17:34:05 +11:00
Andrew Tridgell
2753449e75
AP_InertialSensor: added support for multiple accel/gyro devices
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this makes it possible to ask for the gyro and accel vectors from
secondary INS devices.
2013-12-09 17:34:05 +11:00
Randy Mackay
fd9b115d01
INS: move Product ID to @User Advanced
2013-11-26 22:18:28 +09:00
Andrew Tridgell
71bb462ad0
AP_InertialSensor: use fabsf()
2013-11-15 10:43:10 +11:00
Andrew Tridgell
aef9289476
AP_InertialSensor: added INS_PRODUCT_ID values
2013-11-15 10:43:10 +11:00
Andrew Tridgell
f10a4b04ae
AP_InertialSensor: make PX4 healthy call _get_sample()
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this prevents a false positive during times like arming where we are
not reading the sensors
2013-11-10 17:03:16 +11:00
Andrew Tridgell
80def01fbe
AP_InertialSensor: fixed semaphore error on startup for MPU6000
2013-11-09 11:26:50 +11:00
Andrew Tridgell
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
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used to detect bad accels
2013-11-07 13:53:59 +11:00
Andrew Tridgell
9ecd889e9d
AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed
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this uses bad data or bad INT_STATUS values from the MPU6000 to detect
the sensor running too fast and lower bus speed
2013-11-07 12:48:17 +11:00
Andrew Tridgell
b98bcbf715
AP_InertialSensor: automatically lower bus speed on mpu6k bad reads
2013-11-07 12:48:16 +11:00
Andrew Tridgell
bdc40cc7df
AP_InertialSensor: try to lower SPI bus speed on errors
2013-11-07 12:48:16 +11:00
Andrew Tridgell
1cd070a2e7
AP_InertialSensor: use const reference returns
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saves some vector copies
2013-11-04 21:21:42 +11:00
Andrew Tridgell
f4dde44b8d
AP_InertialSensor: SITL doesn't use Oilpan code any more
2013-11-02 21:41:11 +11:00
Mike McCauley
fe6cacf081
AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp
2013-10-14 11:34:47 +10:00
Andrew Tridgell
7831113f84
AP_InertialSensor: yield the CPU for the right time in wait_for_sample()
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this improves timing performance
2013-10-14 08:45:58 +11:00
Andrew Tridgell
8532e2bff8
AP_InertialSensor: fixed timing of PX4 sensor samples
2013-10-13 22:15:50 +11:00
Andrew Tridgell
9833900f91
AP_InertialSensor: run MPU6000 sensor register reads at 8MHz
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run other register IO at 500kHz
2013-10-13 11:03:08 +09:00
Andrew Tridgell
b3af59cc0c
AP_InertialSensor: don't build L3G4200D example
2013-10-10 09:54:20 +11:00
Andrew Tridgell
a04c056598
AP_InertialSensor: remove unused get_last_sample_time_micros()
2013-10-10 09:54:19 +11:00
Andrew Tridgell
5d685385eb
AP_InertialSensor: use gyro sample count on L3G4200D
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this gives more even timing in ArduCopter
2013-10-08 19:20:34 +11:00
Andrew Tridgell
6444b0bddd
AP_InertialSensor_L3G4200D: a sample is only available if gyro had a sample
2013-10-08 19:20:34 +11:00
Andrew Tridgell
e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
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this waits for a new INS sample to arrive, using whatever method is
most efficient on each INS type
2013-10-08 17:31:15 +11:00
Andrew Tridgell
c17a5e5ed1
AP_InertialSensor: added a small delay in accel calibration
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allows threads to run on Linux
2013-10-08 11:50:54 +11:00
Andrew Tridgell
12af23bb7c
AP_InertialSensor: added L3G4200D example
2013-10-08 11:50:53 +11:00
Andrew Tridgell
1aabd7155e
AP_InertialSensor: added L3G4200D driver
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this is for a cheap ebay 10DOF sensor
2013-10-08 11:50:53 +11:00
Mike McCauley
c90c1b9998
AP_InertialSensor: Improvements to Flymaple sensors
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Fix a bug that caused hang after 71 minutes. Use I2CDriver semaphore.
Remove test for in_accumulate: not needed.
2013-10-04 07:21:55 +10:00
Mike McCauley
9ea1108d4e
AP_InertialSensor: Flymaple filter constructor arguments non non-zero
2013-10-04 07:21:55 +10:00
Andrew Tridgell
dda68bddcb
AP_InertialSensor: updates for AP_HAL::MemberProc
2013-09-30 21:06:42 +10:00
Andrew Tridgell
1191607036
AP_InertialSensor: enable Oilpan on Linux
2013-09-29 00:57:13 +10:00
Andrew Tridgell
cf726c6642
AP_InertialSensor: rename Stub to HIL
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more consistent with other drivers
2013-09-28 22:04:15 +10:00
Andrew Tridgell
03036c632d
AP_InertialSensor: use new scheduler API
2013-09-28 21:24:03 +10:00
Andrew Tridgell
096660c4f9
AP_InertialSensor: mark flymaple as nobuild
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won't build with build_examples.sh script
2013-09-27 16:57:13 +10:00
Mike McCauley
e4eef61ec3
AP_InertialSensor: Flymaple sensors improvements
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Flymaple sensors are now raw sampled at 800Hz, and LowPassFilter2p is used
to filter to the desired filter cutoff frequency.
Flymaple sensor polling is done in the main thread NOT in the timer
interrupts.
2013-09-27 15:45:59 +10:00
Mike McCauley
23429b6b9c
AP_InertialSensor: Flymaple now polls sensors at 800Hz. More changes to
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come...
2013-09-27 15:45:57 +10:00
Mike McCauley
29bced05bd
AP_InertialSensor: Added examples/Flymaple for testing
2013-09-27 15:45:54 +10:00
Mike McCauley
d11f952ef1
AP_InertialSensor: Formalise and document Flymaple Gyro scaling factor
2013-09-27 15:45:52 +10:00