155d436807
AP_InertialSensor: support for fast sampling rates on ICM-42xxx series
...
thoughtfully set anti-aliasing filters on ICM-42xxx series
3 years ago
2582d5fad5
AP_InertialSensor: re-enable notch filter on 42688
...
thanks to Andy for pointing out this is for an internal resonance
3 years ago
8a6b8fc486
AP_InertialSensor: enable 180Hz LPF on ICM42670
3 years ago
5b579aebce
AP_InertialSensor: enable AAF at 488Hz for gyro+accel on ICM42688
...
this should improve vibration handling
3 years ago
5bde9b0e7c
AP_InertialSensor: added support for ICM42670 IMU
3 years ago
98d9f07507
AP_InertialSensor: defualt accel scale vector to 1.0
3 years ago
97646f4164
AP_InertialSensor: support BOARD_MATCH() for IMUs
3 years ago
e4ce4ebed3
AP_InertialSensor: remove un-needed methods
3 years ago
80e70b2fb4
AP_InertialSensor: remove voiding of parameter
...
Clearly this is used - we pass it down
3 years ago
c29b390e7b
AP_InertialSensor: implemented harmonics in SITL vibration
3 years ago
193375a7e5
AP_InertialSensor: implement triple notches
3 years ago
9d851a0c1a
AP_InertialSensor: allow concurrent logging of both pre- and post-filter IMU data for FFT
...
remove batch logging bitfields
3 years ago
9ac3472b47
AP_InertialSensor: add set_inactive() on notch filters
3 years ago
d653499efc
AP_InertialSensor: count filters to match notch options
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this allows for much more complex filter setups as long as not
filtering on all IMUs
3 years ago
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
11f5d1974a
AP_InertialSensor: don't print error when probing non-existant BMI270
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fix device locking at startup on BMI270
3 years ago
6cacdd1b34
AP_InertialSensor: properly reset MPU6000 signal path at startup
...
failure to reset the signal path as per the register spec leads to
very poor temperature response early on in startup.
3 years ago
19063a46a0
AP_InertialSensor: fixed build with logging disabled
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fixes CubeOrange-periph build
3 years ago
798f985ee5
AP_InertialSensor: relax is_still() threshold for SITL.. which is pretty darn still all the time for Plane
3 years ago
2382e58f04
AP_InertialSensor: extend ENABLE_MASK param desc IMUs 4 to 7
3 years ago
324f5e3ac9
AP_InertialSensor: Console output can be disabled
3 years ago
e0b7e5f2a5
AP_InertialSensor: add throttle-based notch setup function
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allocate harmonic notch filter if FFT is enabled
3 years ago
94dc0e78cd
AP_InertialSensor: tidy includes
3 years ago
0eb6ae365a
AP_InertialSensor: Added BMI085 support
...
Fixed styling for 61125e2
Remove whitespace l202
Removed else
3 years ago
2d2165936a
AP_InertialSensor: use pitch to guess which axis the user is trying to calibrate, warn about Q_TRIM_PITCH on plane
3 years ago
db14ba46dc
AP_InertialSensor: call notch param update with semaphore held
3 years ago
dff0e5ecc1
AP_InertialSensor: fixed the last notch values to be per-instance
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thanks to Andy for noticing this
3 years ago
184f84f4ee
AP_InertialSensor: don't update disabled notches
3 years ago
e2e1e74da5
AP_InertialSensor: switch to HarmonicNotch class
...
this makes the logic much easier to follow, without indexes into
arrays
3 years ago
e67d9b4179
AP_InertialSensor: support two full harmonic notch filters
3 years ago
95ae150a21
AP_InertialSensor: catch FIFO overruns on BMI088
...
we have seen errors where the BMI088 gets out of sync, so that the 3
axes are rotated. The data is shifted by 4 bytes, so that X=Z, Y=X
and Z=Y
this changes the BMI088 to "stop on full" mode, which is what Bosch
use in their example drivers, and also catches FIFO overrun events and
triggers a full FIFO reset. This should fix the problem with the FIFO
sync
3 years ago
ab5e8419d8
AP_InertialSensor: move INS_HNTC2 to a new parameter table ID
3 years ago
29e8f96275
AP_InertialSensor: move frontend update into ramfunc.
3 years ago
3dae386ae3
AP_InertialSensor: correct compilation with HAL_INS_ACCELCAL_ENABLED false
3 years ago
a53af5277c
AP_InertialSensor: assume accel cals are stored for sitl-on-hw
...
Same as for SITL - they don't need to actually be in storage to be valid
3 years ago
da21b48f7e
AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED
3 years ago
efe8427279
AP_InertialSensor: Change from division to multiplication
3 years ago
b77476caa1
AP_InertialSensor: remove custom orentations
3 years ago
fda4a65e3e
AP_InertialSensor: include cleanups
3 years ago
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
558f6babc4
AP_InertialSensor: correct compilation if INS_TEMPERATURE_CAL_ENABLE is off
3 years ago
c1c329e2b4
AP_InertialSensor: add and use AP_SIM_INS_ENABLED
3 years ago
f80a9ba3ce
AP_InertialSensor: Fix issue #19599 Failed to build Pixhawk1 with O3
...
As suggested by @tridge
3 years ago
80178f5d07
AP_InertialSensor: mark FTN as a streamed message
3 years ago
6084682634
AP_InertialSensor: move INS notch filter logging into INS
3 years ago
3fd79b8ffb
AP_InertialSensor: BMI270 driver
3 years ago
7c8794b0bd
AP_InertialSensor: fixed INS_generic example
...
useful for driver development
3 years ago
662327f2ea
AP_InertialSensor: added support for more ADIS IMUs
...
support 32 bit delta angles and velocities
3 years ago
6e3b502110
AP_InertialSensor: inline vector ops for backends and temp cal
3 years ago
d44478ff59
AP_InertialSensor: calculate number of notches based on motor count
...
configure default harmonics if dynamic harmonics
set number of notches correctly for FFT operation
include static notch in filter calculation and allow harmonic options on static notch
3 years ago
Andy Piper
Andrew Tridgell
Iampete1
Peter Barker
Tom Pittenger
Randy Mackay
murata
Leonardo Garcia
Jaaaky