Commit Graph

60 Commits

Author SHA1 Message Date
Andy Piper 6cacdd1b34 AP_InertialSensor: properly reset MPU6000 signal path at startup
failure to reset the signal path as per the register spec leads to
very poor temperature response early on in startup.
2022-06-08 17:44:17 +10:00
Andrew Tridgell 19063a46a0 AP_InertialSensor: fixed build with logging disabled
fixes CubeOrange-periph build
2022-06-06 14:50:40 +10:00
murata 324f5e3ac9 AP_InertialSensor: Console output can be disabled 2022-05-17 09:53:06 +10:00
murata efe8427279 AP_InertialSensor: Change from division to multiplication 2022-03-16 18:41:52 +11:00
Andy Piper c7a43f2a90 AP_InertialSensor: put some functions in fast ram
precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
2022-02-09 12:47:55 +00:00
Andy Piper 6e3b502110 AP_InertialSensor: inline vector ops for backends and temp cal 2021-12-22 18:23:33 +11:00
QioTek e5a8695640 AP_InertialSensor: added support for ICM-20608-D sensor 2021-12-17 07:58:48 +11:00
Andrew Tridgell 12c10dce32 AP_InertialSensor: fixed comments on IMU types supported 2021-11-09 08:05:03 +11:00
nkruzan f4c18e0f9c AP_InertialSensor_Invensense: set reset count to 1 if 10s has passed since last reset 2021-05-25 10:46:38 +10:00
Andrew Tridgell b3ed4f4b12 AP_InertialSensor: fixed handling of more than 3 accel/gyro instances
allows for first 3 to work without a panic
2021-04-13 09:36:52 +10:00
Andrew Tridgell dcf6bcea6e AP_InertialSensor: removed assert calls
these waste flash space and do not do us any good
2021-03-25 14:03:40 +11:00
Andrew Tridgell bf999f701f AP_InertialSensor: fixed ICM-20602 y offset bug
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.

The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
2021-02-24 18:18:37 +11:00
Andrew Tridgell 4cddf37984 AP_InertialSensor: log unexpected register changes
when the register checking code finds an error we will log what
register changed and to what value
2021-02-24 18:18:37 +11:00
Andrew Tridgell 85ef6b7ac6 AP_InertialSensor: added optional logging of register changes 2021-02-24 18:18:37 +11:00
Andy Piper 3db6203fb6 AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention 2020-12-23 18:03:12 +11:00
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
Andy Piper e53a43461b AP_InertialSensor: remove ICM gyro pre-filter 2020-08-04 09:24:16 +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 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
Andrew Tridgell d8b33bcac9 AP_InertialSensor: suppress expected errors from invensense IMUs 2020-03-11 16:30:06 +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
Peter Barker ef860db558 AP_InertialSensor: add floating point constant designators 2019-04-05 23:04:17 -07:00
na 494a3f86ad AP_IntertialSensor: support ICM20601 IMU 2019-03-28 09:15:27 +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
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 2b285089e9 AP_InertialSensor: widen allowable temp gap on invensense IMUs
some sensors have more temperature noise
2019-02-26 16:18:26 +11:00
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
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
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 f788cde5c7 AP_InertialSensor: use multiply for fifo scale factors
this fixes issue from #8118 too
2018-04-10 14:17:16 +10:00
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 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
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
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 9416165fe3 AP_InertialSensor: improved invensense debugging on ChibiOS 2018-01-20 10:36:22 +11:00
bugobliterator 1c6beaa7c4 AP_InertialSensor: use new API for DMA safe allocation 2018-01-15 11:46:02 +11:00
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 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 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