ardupilot

Commit Graph

Author	SHA1	Message	Date
Andy Piper	221ab9752e	AP_InertialSensor: synchronise fifo reads on the ICM42xxx	3 years ago
Peter Barker	e4ce4ebed3	AP_InertialSensor: remove un-needed methods	3 years ago
Andrew Tridgell	9ac3472b47	AP_InertialSensor: add set_inactive() on notch filters	3 years ago
Andrew Tridgell	a37f268dc6	Ap_Inertialsensor: by default only run harmonic notch on the active gyro this should save quite a lot of CPU. Only the active gyro impacts vehicle flight	3 years ago
Andrew Tridgell	19063a46a0	AP_InertialSensor: fixed build with logging disabled fixes CubeOrange-periph build	3 years ago
Andrew Tridgell	db14ba46dc	AP_InertialSensor: call notch param update with semaphore held	3 years ago
Andrew Tridgell	e2e1e74da5	AP_InertialSensor: switch to HarmonicNotch class this makes the logic much easier to follow, without indexes into arrays	3 years ago
Andrew Tridgell	e67d9b4179	AP_InertialSensor: support two full harmonic notch filters	3 years ago
Iampete1	b77476caa1	AP_InertialSensor: remove custom orentations	3 years ago
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	3 years ago
Andrew Tridgell	662327f2ea	AP_InertialSensor: added support for more ADIS IMUs support 32 bit delta angles and velocities	3 years ago
Andy Piper	6e3b502110	AP_InertialSensor: inline vector ops for backends and temp cal	3 years ago
Peter Barker	c6734ad825	AP_InertialSensor: correct logging of inertial-sensor reg-change logging	3 years ago
Andrew Tridgell	4fdc1ebc30	AP_InertialSensor: fixed locking issue in delta accumulation this fixes a bug in calculating delta velocity and delta acceleration between threads.	4 years ago
Siddharth Purohit	447935bf4c	AP_InertialSensor: remove dependence on gcs for AP_Periph builds	4 years ago
Josh Henderson	2b20dcf128	AP_InertialSensor: move GYR & ACC logging functions to Logging.cpp	4 years ago
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	4 years ago
Andrew Tridgell	3ff71c7814	AP_InertialSensor: changes from review feedback	4 years ago
Andrew Tridgell	8caea96ab1	AP_InertialSensor: start auto-learning at boot This makes it easier to setup the params. The ENABLE=2 value only takes effect at boot	4 years ago
Andrew Tridgell	fc0f8b990a	AP_InertialSensor: added online learning of temp cal use INS_TCAL1_ENABLE=2 to start learning	4 years ago
Andrew Tridgell	7921e042f1	AP_InertialSensor: added IMU temperature calibration support this adds parameters that can be setup by an external script for compensating for temperature variation in gyros and accels using a 3rd order polynomial	4 years ago
Andrew Tridgell	b74e5c0e2f	AP_InertialSensor: added ExternalAHRS backend	4 years ago
Peter Barker	2437cf8a24	AP_Logger: use instance number for IMU logging	4 years ago
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	5 years ago
Andy Piper	61bb42cc0c	AP_InertialSensor: allow up to four distinct notch center frequencies to be updated apply the LPF after the notch filters to reduced notch-induced noise	5 years ago
Andy Piper	8ac79da643	AP_InertialSensor: FFT gyro window would overflow on windows >= 256 convert FFT buffers to ObjectBuffer<float> for lock-free access push gyro samples directly into the FFT ring buffer from the gyro thread	5 years ago
Andrew Tridgell	5c6749ee54	AP_InertialSensor: use wait_pin() to wait for DRDY pin if available	5 years ago
Andy Piper	0e9b2a26c5	AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate use regulated time for frequency noise to avoid spurious harmonics SITL sensors must be true separate instances don't compile in FFT structures if DSP disabled	5 years ago
Andy Piper	3d9776dd6d	AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis. FFT windows can be dynamically allocated add harmonic notch dynamic tracking mode unwind gyro window allocation in the case of failure allow access to harmonic notch harmonics	5 years ago
Andy Piper	143a071788	AP_InertialSensor: add rpm-based motor noise to gyros and accels Remove sample time error in backend.	5 years ago
Andrew Tridgell	236ce28339	AP_InertialSensor: updated for heater changes	5 years ago
Andy Piper	8e385d7453	AP_InertialSensor: correct formatting	6 years ago
Andy Piper	5b7f9f6bea	AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value	6 years ago
Andy Piper	3261677e01	AP_InertialSensor: remove _ prefix from methods. use changed filter methods.	6 years ago
Andy Piper	50f7e50634	AP_InertialSensor: add harmonic notch filter to gyro filter chain Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats. backend variables do not need to be indexed per-backed	6 years ago
Andrew Tridgell	09d3392aee	AP_InertialSensor: zero accumulators on time step this zeros the delta angle and delta velocity accumulators when a sensor is unavailable for a period of 0.1s. This prevents garbage values being passed into the EKF when a sensor dies and then becomes available again some time later	6 years ago
Andrew Tridgell	3444e82ef9	AP_InertialSensor: added RC switch for killing IMUs	6 years ago
Andy Piper	fff81a2163	AP_InertialSensor: Make sure the LPF output is used by the notch input.	6 years ago
Andy Piper	18d403c3ac	AP_InertialSensor: Rework notch filter allocation and sampling https://github.com/ArduPilot/ardupilot/issues/11346 Allocate a notch filter per-IMU. Update the notch filters in the backend at the sensor sample rate. Allow raw logging of post-filtered gyro and accel values.	6 years ago
Peter Barker	ef860db558	AP_InertialSensor: add floating point constant designators	6 years ago
Tom Pittenger	3eeaa2c8df	AP_InertialSensor: rename dataflash to logger	6 years ago
Tom Pittenger	9347e6d36f	AP_InertialSensor: unify singleton naming to _singleton and get_singleton()	6 years ago
Peter Barker	b47733142f	GLOBAL: rename DataFlash_Class to AP_Logger	6 years ago
Andrew Tridgell	755dc8dc5d	AP_InertialSensor: use WITH_SEMAPHORE() and removed usage of hal.util->new_semaphore()	6 years ago
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	7 years ago
Andrew Tridgell	44131202cd	AP_InertialSensor: 4kHz batch sampling	7 years ago
Jacob Walser	ad4e928e7d	AP_InertialSensor: add support for custom board orientations	7 years ago
Andrew Tridgell	0e6497aa85	AP_InertialSensor: merged in Revo driver	7 years ago
Peter Barker	9566abb3a8	AP_InertialSensor: add IMU batch sampling	7 years ago
Peter Barker	5096e2fca9	AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw	7 years ago

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108 Commits (master)