mirror of
https://github.com/ArduPilot/ardupilot
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d9c8db7024
this moves to using a 1p filter on the high rate data, followed by averaging down to 1kHz then a 2p filter to apply configured cutoff frequency. It also fixes the FIFO reset to not cause data corruption. We need to disable all FIFO channels before doing the reset, and wait for the FIFO to stop in the sensor. Finally it moves sampling of the MPU6000 and MPU9250 into the main thread. That significantly improves scheduling performance as we no longer get long FIFO SPI transfers happening during other tasks. All transfers happen at the start of the fast loop. That makes timing much more predictable. Thanks to Leonard and Paul for help with this design! |
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| .. | ||
| examples | ||
| AP_InertialSensor_Backend.cpp | ||
| AP_InertialSensor_Backend.h | ||
| AP_InertialSensor_BMI160.cpp | ||
| AP_InertialSensor_BMI160.h | ||
| AP_InertialSensor_HIL.cpp | ||
| AP_InertialSensor_HIL.h | ||
| AP_InertialSensor_L3G4200D.cpp | ||
| AP_InertialSensor_L3G4200D.h | ||
| AP_InertialSensor_LSM9DS0.cpp | ||
| AP_InertialSensor_LSM9DS0.h | ||
| AP_InertialSensor_MPU6000.cpp | ||
| AP_InertialSensor_MPU6000.h | ||
| AP_InertialSensor_MPU9250.cpp | ||
| AP_InertialSensor_MPU9250.h | ||
| AP_InertialSensor_PX4.cpp | ||
| AP_InertialSensor_PX4.h | ||
| AP_InertialSensor_qflight.cpp | ||
| AP_InertialSensor_qflight.h | ||
| AP_InertialSensor_QURT.cpp | ||
| AP_InertialSensor_QURT.h | ||
| AP_InertialSensor_SITL.cpp | ||
| AP_InertialSensor_SITL.h | ||
| AP_InertialSensor_UserInteract_MAVLink.cpp | ||
| AP_InertialSensor_UserInteract_MAVLink.h | ||
| AP_InertialSensor_UserInteract_Stream.cpp | ||
| AP_InertialSensor_UserInteract_Stream.h | ||
| AP_InertialSensor_UserInteract.h | ||
| AP_InertialSensor.cpp | ||
| AP_InertialSensor.h | ||
| AuxiliaryBus.cpp | ||
| AuxiliaryBus.h | ||