ardupilot

Commit Graph

Author	SHA1	Message	Date
Andy Piper	507bd9eea9	AP_InertialSensor: add in user-specified background noise when there is no rpm noise	5 years ago
Andy Piper	41b41c05f3	AP_InertialSensor: scale SITL motor noise by SIM_VIB_MOT_MULT	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
Peter Barker	ab7ee46423	AP_InertialSensor: mark some parameters as Calibration parameters	5 years ago
Randy Mackay	b7f6f4a05e	AP_InertialSensor: reduce POS param range to 5m and add increment	5 years ago
Andrew Tridgell	58708c483f	AP_InertialSensor: make all semaphores recursive the cost is very similar and this prevents an easy coding error which can occur on less used code paths	5 years ago
Andrew Tridgell	b89c241329	AP_InertialSensor: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER this makes for cleaner and smaller code as the failure case is not needed	5 years ago
Andy Piper	52f59fb573	AP_InertialSensor: more accurately compute INS noise taking throttle into account and adding frequency noise noisily make SITL fast-sampling correct	5 years ago
Andrew Tridgell	e52a3b9978	AP_InertialSensor: default fast sampling on if we have a first IMU capable of fast sampling then we want it enabled by default	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
Andy Piper	7e35622015	AP_InertialSensor: correct loop rate on BMI055, clean up setting of loop rate on BMI055 and BMI088	5 years ago
Andy Piper	763089addb	AP_InertialSensor: slight improvement to LOG_BAT_OPT docs.	5 years ago
Andrew Tridgell	9dc618ddd4	AP_InertialSensor: added gyro_harmonic_notch_enabled()	5 years ago
Andrew Tridgell	77d21f9f5d	AP_InertialSensor: return HarmonicNotchDynamicMode	5 years ago
Andrew Tridgell	eb582ac0cc	AP_InertialSensor: avoid SITL build on non-SITL	5 years ago
Mark Whitehorn	00948c33d5	AP_InertialSensor: rename sensor_config_error to config_error	5 years ago
Andrew Tridgell	236ce28339	AP_InertialSensor: updated for heater changes	5 years ago
Andy Piper	6381183aa3	AP_InertialSensor: expose harmonic notch tracking mode	5 years ago
Andrew Tridgell	d6e17b0c2b	AP_InertialSensor: publish an IMU temperature makes testing of mavlink extension easier	5 years ago
Andrew Tridgell	850892c3d9	HAL_ChibiOS: fixes from LGTM errors	5 years ago
Andy Piper	8e385d7453	AP_InertialSensor: correct formatting	5 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	5 years ago
Andy Piper	a9a7fe3ea5	AP_InertialSensor: ensure harmonic notch gets appropriate defaults	5 years ago
Andy Piper	3261677e01	AP_InertialSensor: remove _ prefix from methods. use changed filter methods.	5 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	5 years ago
Andy Piper	dde6dec145	AP_InertialSensor: correct reboot documentation for batch logger and filters	5 years ago
Andrew Tridgell	15e15e0b9d	AP_InertialSensor: define GET_I2C_DEVICE()	6 years ago
Andrew Tridgell	1c92ecc89f	AP_InertialSensor: removed old method of specifying most IMUs and removed dangerous default values for rotations	6 years ago
Andrew Tridgell	c99923d500	AP_InertialSensor: require gyro orientations in LSM9DS probe this prevents a bug where they are missing in hwdef.dat	6 years ago
Andrew Tridgell	992016069a	AP_InertialSensor: fixed watchdog on AHRS trim gyro wait	6 years ago
Andrew Tridgell	e1ce735886	AP_InertialSensor: special check for CubeBlack to force INS_USE3=1 this will cope with users loading old parameter files	6 years ago
Andrew Tridgell	123800ccd2	AP_InertialSensor: default INS_USE3 to 1	6 years ago
Randy Mackay	6a154c4e4c	AP_InertialSensor: resolve gcs::send_text compiler warning	6 years ago
Andrew Tridgell	8e5c0fa32b	AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES	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
Andrew Tridgell	053f0cb689	AP_InertialSensor: try much harder to get all IMU samples this we ensures we get new data for all active IMUs on each loop, rather than sometimes returning with some IMUs not having data. This matters as not having a sample on an IMU for a single loop can cause an EKF IMU failover, which will degrade the learned bias variances The issue is usually only seen under high load, such as requesting a loop rate beyond what the hardware is capable of	6 years ago
Andy Piper	31ea3466af	AP_InertialSensor: Post-filter logging takes precedence over sensor-rate logging.	6 years ago
Andy Piper	36878e9b3c	AP_InertialSensor: Allow all filter frequencies to be 16bit.	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
Andrew Tridgell	aef343bfd0	AP_InertialSensor: removed old mRoControlZeroF7 config	6 years ago
Andrew Tridgell	039e7366b0	AP_InertialSensor: support new sensor config setup	6 years ago
Andrew Tridgell	3823ba539c	AP_InertialSensor: rename to EXPECT_DELAY_MS()	6 years ago
Andrew Tridgell	02326ac52c	AP_InertialSensor: use EXPECT_DELAY() macro	6 years ago
Andrew Tridgell	4e769730c9	AP_InertialSensor: removed unusued AP_Common/Semaphore.h	6 years ago
Phillip Kocmoud	6665e4c0a7	AP_InertialSensor: probe IMUs for mRoControlZeroF7	6 years ago
Andrew Tridgell	893b49d145	AP_InertialSensor: disable register checking in invensensev2 driver register checking doesn't work for the banked registers used in the invensensev2 register layout. It ends up setting the wrong register value in some cases, which can either cause the sensor to stop working or in the worst case give bad data	6 years ago
Jaaaky	47c65314fb	AP_InertialSensor: fix accelcalsimple watchdog	6 years ago

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1135 Commits (rover_4.3)