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39 Commits

Author SHA1 Message Date
Andrew Tridgell b1c5f23bbd AP_InertialSensor: make get_delta_time() const 
allows use from AP_NavEKF
 2014-02-15 05:29:47 +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 a0688a69d4 AP_InertialSensor: generalise the accel/gyro calibration for N sensors 2013-12-09 17:34:06 +11:00
Andrew Tridgell 2753449e75 AP_InertialSensor: added support for multiple accel/gyro devices 
this makes it possible to ask for the gyro and accel vectors from
secondary INS devices.
 2013-12-09 17:34:05 +11:00
Andrew Tridgell f5299e2e11 AP_InertialSensor: added healthy check for PX4 and HIL 
used to detect bad accels
 2013-11-07 13:53:59 +11:00
Andrew Tridgell f4dde44b8d AP_InertialSensor: SITL doesn't use Oilpan code any more 2013-11-02 21:41:11 +11:00
Andrew Tridgell e5e4cdee18 AP_InertialSensor: added wait_for_sample() API call 
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 1191607036 AP_InertialSensor: enable Oilpan on Linux 2013-09-29 00:57:13 +10:00
Andrew Tridgell 14636e1cdf AP_InertialSensor: changed num_samples_available() to sample_available() 
this makes the interface clearer. It also fixes a 3D accel cal bug.
 2013-09-27 10:49:00 +10:00
Andrew Tridgell 76e20150e9 AP_InertialSensor: ensure parent class is initialised in instance classes 2013-04-12 14:30:35 +10:00
Randy Mackay af13f6795c INS: switch to global definition of GRAVITY_MSS 
saves 4 bytes of RAM
 2013-04-05 22:57:46 +09:00
Andrew Tridgell 5643c371b9 AP_InertialSensor: removed unused new_data_available() and temperature() APIs 2013-02-07 10:23:37 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell d7996acdf7 AP_InertialSensor: added set_board_orientation() method 2013-01-13 17:32:48 +11:00
Andrew Tridgell 6142eac4b4 AP_InertialSensor: simplify get_delta_time() API 
use a single float return rather than two APIs.

This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
 2013-01-11 21:17:21 +11:00
Andrew Tridgell dbad61816b AP_InertialSensor: only build Oilpan driver on APM1 2013-01-10 21:01:55 +11:00
Andrew Tridgell 3f6f0b6d79 Oilpan: removed reference to DESKTOP_BUILD 2013-01-02 15:39:41 +11:00
Andrew Tridgell 3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Pat Hickey 4acf2c8591 AP_InertialSensor: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Andrew Tridgell 3b18c57691 AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell 4f868e04cc AP_InertialSensor: return the example sample count in Oilpan 2012-11-30 07:15:19 +11:00
Andrew Tridgell 089ae0f9f3 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00
Andrew Tridgell 152c12c283 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell 3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 49de46a548 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
rmackay9 0a6219695b AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately 
This reduces the delay between when data arrives and when it is used
by up to 1ms.

Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
 2012-09-10 11:37:33 +09:00
uncrustify 77729b847f uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp 2012-08-21 19:03:14 -07:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
rmackay9 48074f4766 AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning 2012-07-28 15:22:37 +09:00
Jason Short c9d3ab5413 Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Craig Elder 4a1d8b0875 AP_InertialSensor: Return product ID from sensor initialization 
this exposes the product ID to the IMU Layer
 2012-05-09 18:30:36 -07:00
Andrew Tridgell 9296ac494d AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 3e960f8ef9 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell a9dea35310 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell 97f8d21c1b added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell d442bad413 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell 9591317dbc ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Pat Hickey 82b48784ef purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00