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206 Commits

Author SHA1 Message Date
Jonathan Challinger
bd84328440 AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample 2015-04-03 14:54:15 -07:00
Jonathan Challinger
b2b42e081a AP_InertialSensor: use delta_velocity/dt for calibration if available 2015-04-03 14:54:10 -07:00
Andrew Tridgell
4147825b87 AP_InertialSensor: fixed gyro calibration bug 
we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
 2015-04-03 06:57:30 -07:00
Andrew Tridgell
cf2445dc97 AP_InertialSensor: prevent nested accelerometer calibration 2015-03-15 15:22:59 +11:00
Andrew Tridgell
8a99cab535 AP_InertialSensor: load only HIL backend for hil_mode 2015-03-13 22:52:55 +11:00
Andrew Tridgell
07fd31c724 AP_InertialSensor: change copter filters to 20Hz 
with the backend filters disabled 20Hz is closer to the old default of
30Hz
 2015-03-12 13:11:17 +11:00
Andrew Tridgell
3d7d46b9b0 AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER 
this allows filtering to be set separately on accels and gyros where possible
 2015-03-12 12:50:31 +11:00
Andrew Tridgell
f3314791f2 AP_InertialSensor: removed INS_CALSENSFRAME 
it is no longer needed as we have shifted the accel cal indexes
 2015-03-12 12:50:31 +11:00
Andrew Tridgell
4bc6c8e655 AP_InertialSensor: shift to new parameter indexes for accel calibration 
this allows for users to switch between development trees and previous
stable versions while retaining their accel calibration values.
 2015-03-12 12:50:30 +11:00
Andrew Tridgell
e6a4b9f68c AP_InertialSensor: check accel health during accel cal 2015-03-12 12:50:29 +11:00
Andrew Tridgell
875339f12a AP_InertialSensor: try to avoid a compiler fault in travis 2015-03-12 12:50:29 +11:00
Andrew Tridgell
786172aa4e AP_InertialSensor: removed 1D accel calibration 
it is finally time to move on from this. We want to push people
towards better calibration and removing the 1D accel cal is the first
step
 2015-03-12 12:50:28 +11:00
Andrew Tridgell
a975520033 AP_InertialSensor: check range of accels in 3D calibration 
during 3D accel cal it is possible to get data which passes the sphere
fit but which has very poor coverage and does not provide sufficient
data for a good result. This checks that each axis covers a range of
at least 12 m/s/s in body frame
 2015-03-12 12:50:28 +11:00
Andrew Tridgell
a8a8628515 AP_InertialSensor: added INS_CALSENSFRAME parameter 
this allows us to detect if accel calibration was done in sensor frame
or not. If it was done in sensor frame then the accel calibration is
independent of AHRS_ORIENTATION, which makes it easier to move a board
to a new airframe without having to recalibrate.
 2015-03-12 12:50:28 +11:00
Jonathan Challinger
2a547f329b AP_InertialSensor: allow backends to publish delta velocities and angles 2015-03-12 12:50:27 +11:00
Jonathan Challinger
155c173ed1 AP_InertialSensor: rename _rotate_and_offset to _publish 2015-03-12 12:50:27 +11:00
Randy Mackay
5f26a36060 INS: protect against two calibrations running at the same time 2015-03-09 17:58:38 +11:00
Randy Mackay
f9c6e35d19 INS: add calibrating method 2015-03-09 17:58:38 +11:00
Randy Mackay
b0e7990c90 INS: set gyro_cal_ok only after completing calibration 2015-03-09 17:58:37 +11:00
Andrew Tridgell
aec7907571 AP_InertialSensor: updated comment on accel check in gyro cal 2015-03-09 17:58:36 +11:00
Andrew Tridgell
38bde56523 AP_InertialSensor: continue finding best gyro after convergence 
with multiple gyros if we are still calibrating one of the gyros then
keep looking for better values for the already converged gyros.
 2015-03-08 07:49:38 +11:00
Andrew Tridgell
20a4c98bac AP_InertialSensor: use accelerometers to prevent bad gyro cal 
if the board is rotating at a steady rate we can end up with a bad
gyro calibration. This can happen on a steadily moving platform such
as a ship.

This uses the accelerometers to detect the steady movement and not
accept the gyro calibration
 2015-03-08 07:48:16 +11:00
Randy Mackay
b650d39786 InertialSensor: remove product_id set to zero 2015-02-21 09:14:33 +09:00
Andrew Tridgell
9b2d44d6ed AP_InertialSensor: use delay_microseconds_boost() 
this gives much more consistent timing for PX4
 2015-02-16 12:19:13 +11:00
Andrew Tridgell
f54d799bff AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues 2015-02-16 10:12:10 +11:00
Andrew Tridgell
04bef5ccf3 AP_InertialSensor: don't skip delay if we are a bit early 
this produces a bit more even timing
 2015-02-14 12:25:44 +11:00
Emile Castelnuovo
dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
LukeMike
6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +11:00
Andrew Tridgell
6e62e1ca7b AP_InertialSensor: make calibrated() const 2015-02-01 14:13:54 +11:00
Andrew Tridgell
8b59c72eb9 AP_InertialSensor: cope with 2 IMUs in SITL 2015-01-20 19:47:45 +11:00
Andrew Tridgell
b3ce56d34d AP_InertialSensor: fixed 2nd IMU in Replay 
this makes for much more accurate replay runs
 2015-01-20 09:20:47 +11:00
Andrew Tridgell
745b739ab7 AP_InertialSensor: make calibrated() function fast enough to call in flight 
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.

Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
 2015-01-03 14:06:42 +11:00
Andrew Tridgell
06a72839ed AP_InertialSensor: fixed error detection on secondary IMUs 
the break; was preventing error detection on lsm303d/l3gd20
 2015-01-01 08:55:57 +11:00
Andrew Tridgell
b9adc6e466 AP_InertialSensor: prefer sensors that have zero error counts 
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
 2014-12-29 21:19:35 +11:00
Andrew Tridgell
f84f432ecf AP_InertialSensor: allow gyro calibration to take up to 30 seconds 
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
 2014-11-22 18:27:51 +11:00
Andrew Tridgell
ad7c612334 AP_InertialSensor: fixed SITL with new HIL code 2014-10-24 15:05:44 +11:00
Andrew Tridgell
40e83ceb1f AP_InertialSensor: simplify next sample time calculations 
this makes the calculation much clearer
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
a047d1f569 AP_InertialSensor: moved default filter and sample_rate to frontend 
this simplifies the backends and prevents code repitition
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
17b2214798 AP_InertialSensor: make it easier to add multiple backends 
use _add_backend() to add new backends on startup
 2014-10-24 12:10:40 +11:00
Andrew Tridgell
3a9a5a9c18 AP_InertialSensor: implement gyro and accel health monitoring 
sensor is healthy if it gave a sample on the last update()
 2014-10-24 12:10:39 +11:00
Andrew Tridgell
586fa9a816 AP_InertialSensor: added product_id support 
fill in parameter from first backend
 2014-10-24 12:10:39 +11:00
Andrew Tridgell
ff5f791343 AP_InertialSensor: converted flymaple driver to new API 2014-10-24 12:10:38 +11:00
Andrew Tridgell
a42af0f2f1 AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN 2014-10-24 12:10:38 +11:00
Andrew Tridgell
2d47a07480 AP_InertialSensor: ported L3G4200D driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
deafcd6ddc AP_InertialSensor: improved timing in all drivers 2014-10-24 12:10:37 +11:00
Andrew Tridgell
d48beb0c0f AP_InertialSensor: converted PX4 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell
ec11417705 AP_InertialSensor: converted HIL backend, which gets SITL working 2014-10-24 12:10:36 +11:00
Andrew Tridgell
448efc70a3 AP_InertialSensor: first steps in frontend/backend split 
This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
 2014-10-24 12:10:36 +11:00
Randy Mackay
834f2bea07 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:00:07 +09:00
Randy Mackay
0803d79701 INS: param descriptions for ACC2, GYR2 2014-09-27 21:05:33 +09:00
Randy Mackay
74553e523d INS: add get_accel_health_all and get_gyro_health_all 
Returns true only if all available accels or gyros are healthy
 2014-09-03 11:22:46 +09:00
Randy Mackay
50ae5b2519 InertialSensor: reorder .cpp file to match .h 
No functional changes
 2014-09-03 11:19:36 +09:00
Andrew Tridgell
ed6ab5f1d3 AP_InertialSensor: use bool for blocking_read() 
uint8_t return was confusing
 2014-08-07 13:09:17 +10:00
Michael Carpenter
b4c0e1215b AP_InertialSensor: Use return value of blocking_read to handle calibration timeouts 2014-08-07 13:04:18 +10:00
Randy Mackay
c5a03ea18e AP_InertialSensor: init members to reduce compiler warnings 2014-07-16 14:40:53 +09:00
Randy Mackay
7e04b5d1f1 INS: calibrated method checks all accelerometers 2014-07-13 22:05:21 +09:00
Andrew Tridgell
ca12592448 AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk 
this supports FMUv3
 2014-06-30 07:58:27 +10:00
Andrew Tridgell
2763393908 AP_InertialSensor: fixed some compiler warnings 2014-03-24 12:52:16 +11:00
Andrew Tridgell
a95a3142e0 AP_InertialSensor: use fixed size arrays 
apparently helps SITL build on MacOS
 2014-02-08 19:32:26 +11:00
Andrew Tridgell
58d3729d16 AP_InertialSensor: fixed default health functions 
this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
 2014-01-22 22:08:28 +11:00
Don Gagne
68b3b31499 Param doc typo 2014-01-18 10:18:58 +09:00
Randy Mackay
965e5b2dfd INS: check for good calibration for 10seconds 
Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration.  This restores the total time to 10
seconds.
 2014-01-17 12:48:11 +09:00
Randy Mackay
1f76ada9dd INS: shortened gyro calibration 
Removed delays before calibration, reduced number of samples taken,
widened convergence criteria
 2014-01-16 13:40:49 +09:00
Randy Mackay
a400ddeb88 INS: replace APM with vehicle in accel calibrate 2013-12-28 10:41:49 +09:00
Andrew Tridgell
23a112c5d5 AP_InertialSensor: reduce the number of format string warnings 2013-12-11 17:29:27 +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
Randy Mackay
fd9b115d01 INS: move Product ID to @User Advanced 2013-11-26 22:18:28 +09:00
Andrew Tridgell
aef9289476 AP_InertialSensor: added INS_PRODUCT_ID values 2013-11-15 10:43:10 +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
c17a5e5ed1 AP_InertialSensor: added a small delay in accel calibration 
allows threads to run on Linux
 2013-10-08 11:50:54 +11:00
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
f8e9d48a76 AP_InertialSensor: removed the flash_leds() callback 
AP_Notify now handles this
 2013-09-19 18:32:19 +10:00
Andrew Tridgell
65a490c209 AP_InertialSensor: update for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay
5651bdbe3a INS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay
effc829790 INS: relax accel offset check to 3.5 m/s/s 
One user, Dusty, has found that even with offsets of 3.1 m/s/s
successful alt hold and loiter are possible
 2013-07-13 10:43:07 +09:00
Randy Mackay
20ed00dcc9 AP_InertialSensor: relax accel offset sanity check 2013-06-25 14:19:42 +09:00
Andrew Tridgell
59b6118a1d AP_InertialSensor: fixed parameter markup 2013-05-21 17:02:13 +10:00
Andrew Tridgell
2ddeaa7f4d AP_InertialSensor: show calibration offsets for success and failure 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-05-08 16:19:06 +10:00
Randy Mackay
42bca90676 INS: add calibrated check 
Checks is the scaling vector has been updated.  Required for pre-arm
checks for ArduCopter
 2013-04-22 23:55:53 +09:00
Andrew Tridgell
76e20150e9 AP_InertialSensor: ensure parent class is initialised in instance classes 2013-04-12 14:30:35 +10:00
Randy Mackay
86fe79a662 INS: updated MPU6K_FILTER parameter description 2013-04-10 00:14:53 +09:00
Randy Mackay
af13f6795c INS: switch to global definition of GRAVITY_MSS 
saves 4 bytes of RAM
 2013-04-05 22:57:46 +09:00
Randy Mackay
21de9f5f47 AP_InertialSensor: return roll and pitch trim angles 2013-02-19 12:45:44 +09:00
zlite
4800c57fb4 Fixed cosmetic typo in user display message 
Corrected "it's" to "its". Just one of those grammar things that drives me crazy ;-)
 2013-02-06 16:34:33 -08:00
Randy Mackay
6f5050a8b9 Copter: minor casting fixup for wp_distance 2013-01-27 11:27:43 +09:00
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
rmackay9
e594f18b75 AP_InertialSensor: added parameter descriptions 2013-01-02 16:32:43 +09:00
rmackay9
a76aec675a AP_InertialSensor: resolved compile warning re uninitialised variable 2013-01-02 09:18:03 +11:00
Pat Hickey
9055681b3a AP_InertialSensor: use AP_InertialSensor_UserInteract 
* permits polymorphic user interaction, so we can plug in a
  pure mavlink interface
 2012-12-20 14:53:23 +11:00
Andrew Tridgell
7277d4934d AP_InertialSensor: move constructor into cpp 2012-12-20 14:53:22 +11:00
Andrew Tridgell
c064becf28 AP_InertialSensor: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey
dbcc4fc6a5 AP_InertialSensor: variable wibble 2012-12-20 14:51:36 +11:00
Pat Hickey
4acf2c8591 AP_InertialSensor: ported to AP_HAL 2012-12-20 14:51:26 +11:00
rmackay9
8b5f66255e AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:35:55 +09:00
Andrew Tridgell
b237c0583d AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 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
rmackay9
74daf73c49 AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G 
Note: Z offsets do tend to be larger than x and y offsets
 2012-11-23 00:34:42 +09:00
Andrew Tridgell
11141d0af0 INS: make it possible to do accel cal on a different serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell
a7e537d6c0 INS: set the acceptable calibration error equal on all axes 2012-11-20 19:28:49 +11:00
Andrew Tridgell
40fc0feaf9 INS: show calibration values on failure 
this will help debug bad calibrations
 2012-11-20 19:28:15 +11:00
Andrew Tridgell
85e050f16c INS: get check for send_msg the right way around! 
I broke this in my previous commit
 2012-11-20 19:10:30 +11:00
Andrew Tridgell
fd3993287d INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell
9c811671f1 INS: make calibrate_accel() return a bool 
this will allow APM to auto set MANUAL_LEVEL to 1
 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