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374 Commits

Author SHA1 Message Date
Andrew Tridgell
039e7366b0 AP_InertialSensor: support new sensor config setup 2019-05-30 15:39:57 +10:00
Andrew Tridgell
3823ba539c AP_InertialSensor: rename to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell
02326ac52c AP_InertialSensor: use EXPECT_DELAY() macro 2019-05-15 15:33:48 +10:00
Phillip Kocmoud
6665e4c0a7 AP_InertialSensor: probe IMUs for mRoControlZeroF7 2019-05-10 15:05:42 +10:00
Jaaaky
47c65314fb AP_InertialSensor: fix accelcalsimple watchdog 2019-05-01 14:23:20 +10:00
Andrew Tridgell
034d476fa5 AP_InertialSensor: prevent watchdog in accelcal 2019-04-22 16:53:35 +10:00
Andrew Tridgell
9c48d001ac AP_InertialSensor: skip gyro cal on watchdog reset 2019-04-22 16:53:35 +10:00
Andrew Tridgell
c988eb2fd9 AP_InertialSensor: don't set INS_ENABLE_MASK to found IMU mask 2019-04-22 14:56:59 +10:00
L Kurt Shaw
d08ab88dea INS: AP_InertialSensor comments for new cubes 
Correct comments ICM20648 should have been ICM20948
 2019-04-02 10:52:43 +11:00
Randy Mackay
5d8747c81d AP_InetialSensor: fixup ENABLE_MASK parameter desc 2019-03-27 13:14:48 +09:00
Andrew Tridgell
4a334d0ed7 AP_IneertialSensor: fixed startup race in SITL 2019-03-21 18:54:32 +11:00
Andrew Tridgell
0a718ba330 AP_IneertialSensor: fixed orientations and gyro scale factors for new Invensense IMUs 2019-03-21 18:54:32 +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
Siddharth Purohit
3a833d9a90 AP_InertialSensor: fix rotation for ICM20649 2019-03-21 18:54:32 +11:00
L Kurt Shaw
8d75e8c5bb INS: AP_InertialSensor.cpp 
Fix typo in comments should be NFC
 2019-03-12 15:56:55 +09:00
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
Siddharth Purohit
528c0b4d7c AP_InertialSensor: add drivers for register bank based Invensense Sensors 2019-03-06 20:47:10 +11:00
Siddharth Purohit
0cfcd0986e AP_InertialSensor: look for icm20602 for Pixhawk 2 series flight boards 2019-03-06 20:47:10 +11:00
Andrew Tridgell
07e2167996 AP_InertialSensor: setup for fmuv6 2019-02-26 16:18:26 +11:00
Tom Pittenger
9347e6d36f AP_InertialSensor: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell
6048c10a7c AP_InertialSensor: added driver for BMI088 
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
 2019-01-31 12:05:57 -08:00
Andrew Tridgell
9520f5f768 AP_InertialSensor: removed F4Light 2019-01-21 21:57:21 +11:00
Peter Barker
43e3acc954 AP_InertialSensor: remove use of never-set AP_HAL_PX4 and AP_HAL_VRBRAIN 2019-01-18 09:53:44 +11:00
Peter Barker
43e47f33e4 AP_InertialSensor: remove PX4 backend 2019-01-17 06:41:33 +11:00
Michael du Breuil
983356213a AP_InertialSensor: Remove unused parameter 2018-12-23 12:46:37 -08:00
Randy Mackay
6b3fa520b5 AP_InertialSensor: add range to POS param description 2018-12-13 20:14:01 +09:00
Andrew Tridgell
3de860f73b AP_InertialSensor: fixed orientation of 2nd OmnibusF7V2 IMU 2018-12-12 16:27:34 +11:00
Andrew Tridgell
89b8124560 AP_InertialSensor: added BMI055 IMU driver 2018-06-08 09:56:41 +10:00
Andrew Tridgell
bfa66c9397 AP_InertialSensor: detect two IMUs on FMUv5 2018-06-06 07:15:41 +10:00
Francisco Ferreira
8b32960d3e AP_InertialSensor: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
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
Jacob Walser
ad4e928e7d AP_InertialSensor: add support for custom board orientations 2018-04-24 13:04:37 +01:00
Andrew Tridgell
ea2dc9b831 AP_InertialSensor: added OMNIBUSF7V2 INS sensors 
a dual-IMU board
 2018-04-12 11:50:44 +10:00
Peter Barker
aca87ab638 AP_InertialSensor: remove pointless initialisations 
AP_InertialSensor: avoid pointless zeroing in constructor

AP_InertialSensor is either in bss or is created via new (which zeroes
memory)
 2018-04-04 12:14:02 +01:00
Peter Barker
2396a248ed AP_InertialSensor: use ahrs singleton for simple accelcal 2018-04-02 23:25:05 +01:00
Andrew Tridgell
455c0e25e1 AP_InertialSensor: allow for HAL_INS_NONE 2018-03-02 12:52:50 +11:00
Andrew Tridgell
b61caa9c57 AP_InertialSensor: added SP01 board type 2018-02-14 18:27:00 +11:00
Peter Barker
096f7367bf AP_InertialSensor: add ins() to AP:: namespace 2018-02-13 17:15:05 +11:00
Andrew Tridgell
0e6497aa85 AP_InertialSensor: merged in Revo driver 2018-02-10 09:14:41 +11:00
Andrew Tridgell
ad8db6cda3 AP_InertialSensor: added sensor type ICM20789_SPI 2018-02-08 17:36:33 +11:00
Andrew Tridgell
b9e5649888 AP_InertialSensor: support PCNC1 2018-02-08 17:36:33 +11:00
Igor Anokhin
e6d4b2a087 AP_InertialSensor: add LSM9DS1 entry 
Enable LSM9DS1 in case it is selected
 2018-02-06 09:31:26 -08:00
LukeMike
502f19cbae VRBRAIN / AP_InertialSensor: added inertial sensors init for VR Brain boards 2018-02-05 08:26:49 +11:00
Andrew Tridgell
100363ba03 AP_InertialSensor: if no sensors found allow parameter change 2018-01-20 10:36:22 +11:00
Andrew Tridgell
c0c5f23aa5 AP_InertialSensor: added INS_ENABLE_MASK 
this allows for only a specified subset of IMUs to be probed, so you
can disable IMUs that aren't needed.

The back corresponds to bits in the order the IMUs are normally probed
on the board
 2018-01-20 10:36:22 +11:00
Andrew Tridgell
8ab35e8aca AP_InertialSensor: fixed MindPX-v2 orientation of IMU2 2018-01-15 11:46:02 +11:00
Andrew Tridgell
dcab40459d AP_InertialSensor: support MindPX-v2 2018-01-15 11:46:02 +11:00
Andrew Tridgell
febe414766 AP_InertialSensor: disable fast sampling on 2nd IMU on Pixracer 
it also hosts a mag, and gets lots of FIFO resets if we try to run it
at 8kHz
 2018-01-15 11:46:02 +11:00
Andrew Tridgell
3fc095589c AP_InertialSensor: support ChibiOS FMUv4 2018-01-15 11:46:02 +11:00
Andrew Tridgell
39362a81ae AP_InertialSensor: support ChibiOS 2018-01-15 11:46:02 +11:00
Andrew Tridgell
39c206ca03 AP_InertialSensor: limit delta-time from INS 
limit delta-time to 2x average time

DEBUG CODE - DO NOT MERGE
 2017-12-12 11:39:38 +11:00
Randy Mackay
38145f9541 AP_InertialSensor: fix param docs for notch and log settings 2017-12-12 07:59:41 +09:00
Peter Barker
161e2145cb AP_InertialSensor: tighten type of simple_accel_cal result 2017-12-01 17:01:10 +00:00
HeBin
efbb030494 AP_InertialSensor: add Robsense PhenixPro Devkit Board support 2017-11-22 10:10:21 -08:00
Peter Barker
9566abb3a8 AP_InertialSensor: add IMU batch sampling 2017-10-27 16:33:45 +11:00
Peter Barker
5096e2fca9 AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw 2017-10-27 16:33:45 +11:00
Alexey Bulatov
069c98b8a9 AP_InertialSensor: Edge: add sensor's rotation YAW_90 2017-10-20 13:03:08 -07:00
Georgii Staroselskii
4f2d8f8df4 AP_InertialSensor: use ICM backend for Edge 2017-10-20 13:03:08 -07:00
Andrew Tridgell
6a6f9681ab AP_InertialSensor: allow for 1,1,1 accel scaling 
this supports simple accel calibration
 2017-10-10 10:57:38 +11:00
Andrew Tridgell
d5cab1140a AP_InertialSensor: added simple_accel_cal() 
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
 2017-10-10 10:57:38 +11:00
Lucas De Marchi
caa4e3ee89 AP_InertialSensor: remove raspilot 2017-09-12 15:06:19 -07:00
Andrew Tridgell
7e1368f7a5 AP_InertialSensor: implement notch filter on gyro 2017-08-29 13:52:29 +10:00
Kevin Lopez Alvarez
ca3627c140 AP_InertialSensor: add ppro support 2017-07-24 13:47:06 +10:00
Randy Mackay
51fa8fb0bd AP_InertialSensor: resolve member init order compiler warning 2017-07-07 17:27:23 +09:00
Randy Mackay
edc9d4db5b AP_InertialSensor: increase accel filter to 20hz 2017-07-03 09:38:15 +09:00
Peter Barker
6ae86a0b8c AP_InertialSensor: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Leonard Hall
447b20efa5 AP_InertialSensor: reduce accel filter to 10hz 2017-06-01 14:53:48 +09:00
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
e62fdad12c AP_InertialSensor: added get_last_update_usec() 
this will be used by the inter-EKF scheduling changes
 2017-05-01 14:24:55 +10:00
Lucas De Marchi
2e4e4365d0 AP_InertialSensor: enable fast sampling for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi
87846fe049 AP_InertialSensor: use MPU6500 on aerofc 2017-03-24 12:06:19 +11:00
Andrew Tridgell
b86513f503 AP_InertialSensor: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell
01da36295d AP_InertialSensor: support the L3GD20H gyro 
this is used by the MRo Pixhawk1
 2017-01-31 07:39:36 +11:00
murata
2643e7e906 AP_InertialSensor: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
murata
d56bad781f AP_InertialSensor: change if statements to switch statement 
No functional change
 2016-12-24 12:23:59 +09:00
murata
398b7b83dd AP_InertialSensor: minor formatting fixes 
No functional change
 2016-12-24 12:23:58 +09:00
Andrew Tridgell
65b9b86099 AP_InertialSensor: unify MPU6000 and MPU9250 drivers 
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
 2016-12-16 12:31:34 +11:00
Andrew Tridgell
0f984290c3 AP_InertialSensor: enable fast sampling by default on some boards 2016-11-25 17:59:54 +11:00
Andrew Tridgell
18d4286166 AP_InertialSensor: fixed pixfalcon 9250 detection 2016-11-18 14:24:39 +11:00
Andrew Tridgell
f3f1f6b0b6 AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk 2016-11-16 20:33:56 +11:00
Francisco Ferreira
bfbb275577 AP_InertialSensor: on accel cal failure don't save values to zero 
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
 2016-11-15 11:42:54 -08:00
Andrew Tridgell
624178f3be AP_InertialSensor: added INS_FAST_SAMPLE parameter 
this allows enable/disable of fast sampling per IMU, making
experimentation easier.

It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
 2016-11-15 21:16:40 +11:00
Andrew Tridgell
4ebf3309f7 AP_InertialSensor: auto-handle invensense sensor changes 
some boards swap out MPU6000 for MPU9250 or ICM20608
 2016-11-11 08:08:55 +11:00
Andrew Tridgell
70c27a85de AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz 2016-11-10 13:04:15 +11:00
Andrew Tridgell
cb70bae167 AP_InertialSensor: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell
8a3f6a8902 AP_InertialSensor: use FIFO and implement fast sampling for MPU9250 2016-11-10 11:44:51 +11:00
Andrew Tridgell
e25a391a8f AP_InertialSensor: fixed typo 2016-11-09 17:08:15 +11:00
Andrew Tridgell
7137d5c6f2 AP_InertialSensor: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell
84c3e29891 AP_InertialSensor: use AP_HAL rotations for MPU6000 2016-11-09 17:08:14 +11:00
Andrew Tridgell
03b7bc9e65 AP_InertialSensor: use internal drivers for PHMINI 
this gets us fast sampling
 2016-11-09 17:08:12 +11:00
Andrew Tridgell
3d7d773883 AP_InertialSensor: added support for ICM20608 on Pixracer 2016-11-09 17:08:08 +11:00
Andrew Tridgell
2c1e9024f1 AP_InertialSensor: detect missing accels or gyros 2016-11-09 17:08:07 +11:00
Andrew Tridgell
106a91c64c AP_InertialSensor: use init_gyro() on startup 
this saves the calibration parameters which should be done on
calibration
 2016-11-09 17:08:07 +11:00
Andrew Tridgell
408593465f AP_InertialSensor: fixed rotation for mpu9250 on pixracer 2016-11-09 17:08:07 +11:00
Andrew Tridgell
790dd4769b AP_InertialSensor: simplify rotations for MPU9250 2016-11-09 17:08:07 +11:00
Lucas De Marchi
469efb00f6 AP_InertialSensor: save id for gyro and accel instances 
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.

We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi
bbb9bfa95e AP_InertialSensor: save only gyro calibration 
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.

Rename the method to _save_gyro_calibration() and save only on gyro
values.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi
ace61087a1 AP_InertialSensor: remove product_id 
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.

A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
 2016-11-09 17:08:05 +11:00
Andrew Tridgell
4ef92b5e39 AP_InertialSensor: enable all 3 IMUs on PH2 2016-11-09 17:08:04 +11:00
Andrew Tridgell
a5c5e033d2 AP_InertialSensor: fixed threading and locking in remaining backends 
use a backend semaphore for shared data and use thread per bus where
available
 2016-11-09 17:08:01 +11:00