Commit Graph

673 Commits

Author SHA1 Message Date
Andrew Tridgell cb858d2c99 AP_InertialSensor: fixed typo 2016-07-01 15:35:22 +10:00
Andrew Tridgell 834acaffee AP_InertialSensor: provide IMU temperature to HAL for all boards 2016-07-01 15:29:52 +10:00
Lucas De Marchi 1f96336f7c Global: rename bus type enum entries 2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa f6bebc96c0 AP_InertialSensor: INS_generic: remove unused includes 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa e85ac8b2c5 AP_InertialSensor: inform maximum gyro average difference
While at it, define GYRO_INIT_MAX_DIFF_DPS.
2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa e6f62080f5 AP_InertialSensor: fix best_diff on gyro initialization
Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa de94392759 AP_InertialSensor: MPU9250: remove _bus_type field
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa 83feb2e2ae AP_InertialSensor: MPU9250: let Device handle read flag
There's no need to handle that in MPU9250 anymore.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa 1e99a7125c AP_InertialSensor: MPU9250: remove _register_write_check()
That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa a6e5eb9e14 AP_InertialSensor: MPU6000: remove _bus_type field
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa 0718649c8b AP_InertialSensor: MPU6000: let Device handle read flag
There's no need to handle that in MPU6000 anymore.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa 309fe4a88c AP_InertialSensor: MPU6000: remove _register_write_check()
That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
Grant Morphett 34fa2a39bd AP_InertialSensor: Changing the default gyro filter from 10 to 4
This change is only for Rovers.
2016-06-16 14:37:55 +09:00
Lucas De Marchi b067bce140 AP_InertialSensor: remove support for flymaple 2016-05-23 21:49:45 -03:00
Lucas De Marchi 7503c1b6d4 AP_InertialSensor: update doc about used ids 2016-05-23 21:49:45 -03:00
Ricardo de Almeida Gonzaga d5a2c57c5e AP_InertialSensor: Fix typos 2016-05-13 19:20:05 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Andrew Tridgell be41d402b5 AP_InertialSensor: added set of delta angle time for replay 2016-04-26 15:50:46 +10:00
Andrew Tridgell 4401cbec72 AP_InertialSensor: cope with zero delta angle time from Replay 2016-04-26 15:37:11 +10:00
mirkix c3a6a56ebb AP_InertialSensor: Add second MPU9250 autodetection to BBBmini 2016-04-24 10:57:57 -03:00
Lucas De Marchi f304fcf4da AP_InertialSensor: examples: add coding style fixes
Several coding style problems were already fixed by previous commit,
just finish the cleanup on this example:

  - replace tabs with spaces
  - remove unneeded \r
  - remove extra spaces
2016-03-31 14:54:17 -03:00
AndersonRayner 10e7d43007 AP_InertialSensor: Add output of all IMUs to example 2016-03-31 14:54:17 -03:00
ashwinvasudevan e33812e1cb AP_InertialSensor: added missing brackets 2016-03-23 17:46:41 +09:00
raspilot 1d1d224c18 AP_InertialSensor: Enable dual IMU for raspilot 2016-03-18 21:51:37 -03:00
Lucas De Marchi f75c12f57c AP_InertialSensor: LSM9DS0: change mode of drdy pins to input 2016-03-18 21:51:37 -03:00
raspilot c83e4df002 AP_InertialSensor: LSM9DS0: Disable I2C at init to avoid SDA hanging by slave. 2016-03-18 21:51:37 -03:00
raspilot 557beb4bb1 AP_InertialSensor: LSM9DS0: Fixed wrong call to _register_read_xm() 2016-03-18 21:51:37 -03:00
Lucas De Marchi 057822b51c AP_InertialSensor: AuxiliaryBus: fix return value
We should return the number of bytes written/read, not 0 on success.
This number may be useful in some cases so return it.

While at it fix a simple wrong space in the header.
2016-03-17 02:55:39 -03:00
Gustavo Jose de Sousa 4613b68efb AP_InertialSensor: waf: skip VibTest example
The code is currently broken.
2016-03-14 11:54:31 -03:00
Staroselskii Georgii da550e5e98 AP_Inertial_Sensor: do not rotate MPU9250 on Navio2 2016-02-27 03:06:50 -03:00
AndersonRayner c9d5c548a6 Corrects a bracket error for the LSM9DS0 IMU
Switches the probe of the accel and gyro so they boot correctly (was
failing the WHOAMI with a switched result)
2016-02-25 20:08:01 -03:00
Jonathan Challinger c454631be8 AP_InertialSensor: work around gyro and accel errors on startup 2016-02-19 16:40:52 +09:00
Lucas De Marchi 02a7fa5c2b AP_InertialSensor: MPU9250: use AP_HAL::Device abstraction
This makes MPU9250 be almost the same as MPU6000 driver. Work has been
done here to make than similar so it's easier to spot the differences.
2016-02-16 19:49:09 -02:00
Lucas De Marchi d2b267d026 AP_InertialSensor: LSM9DS0: use AP_HAL::SPIDevice abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi 58f4624f8c AP_InertialSensor: L3G4200D: use AP_HAL::I2CDevice abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi af846636e4 AP_InertialSensor: MPU60x0: use AP_HAL::Device abstraction 2016-02-16 19:49:09 -02:00
Lucas De Marchi c1d19fa4dc AP_InertialSensor: LSM9DS0: sanitize whitespaces 2016-02-01 14:18:51 -02:00
Lucas De Marchi 9c6bd38e91 AP_InertialSensor: sanitize includes
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.

With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.

Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:

	$ waf copter
	'copter' finished successfully (0.000s)
	Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
	[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
	[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
	[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
	[370/370] Linking build/minlure/bin/arducopter
	Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
2016-02-01 14:18:51 -02:00
Lucas De Marchi 1ca03006ad AP_InertialSensor: MPU9150: remove driver
This is not used by any board and has a lot of commented out code. For
example, the compass is not enabled.  The comment in the beginning of
the driver says it should serve as an example, but we should rather use
a working driver as an example. If this was at least a bit simpler and
that worked in the past we could refactor it to the new I2CDevice API.
This is not the case.
2016-02-01 14:18:51 -02:00
Lucas De Marchi 22f2a2ee09 AP_InertialSensor: L3G4200D: fix coding style
- remove trailing and leading whitespaces
  - remove unecessary void from functions taking no parameters
2016-02-01 14:18:51 -02:00
Lucas De Marchi 637b53f4ce AP_InertialSensor: L3G4200D: sanitize includes 2016-02-01 14:18:51 -02:00
Lucas De Marchi 5088dca072 AP_InertialSensor: MPU60x0: coding style fixes 2016-02-01 14:18:51 -02:00
Lucas De Marchi ed653f8dbb AP_InertialSensor: MPU60x0: add comment about 8G/16G 2016-02-01 14:18:51 -02:00
Jonathan Challinger 4c2e6af6ee AP_InertialSensor: statically register with AP_AccelCal 2016-01-23 10:35:34 +09:00
Randy Mackay 081beacb8d AP_InertialSensor: replace sqrt with safe_sqrt to resolve compiler warning
Also add suppressing comment for missing break at end of switch
2016-01-23 10:10:17 +09:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Andrew Tridgell 24d8610013 AP_InertialSensor: use SIM_GYR_SCALE in SITL 2016-01-19 15:29:08 +11:00
Andrew Tridgell ee453783eb AP_InertialSensor: added get_delta_angle_dt() API 2016-01-19 09:50:21 +11:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00