e4ce4ebed3
AP_InertialSensor: remove un-needed methods
3 years ago
9d851a0c1a
AP_InertialSensor: allow concurrent logging of both pre- and post-filter IMU data for FFT
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remove batch logging bitfields
3 years ago
9ac3472b47
AP_InertialSensor: add set_inactive() on notch filters
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
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
e2e1e74da5
AP_InertialSensor: switch to HarmonicNotch class
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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
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
da21b48f7e
AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED
3 years ago
b77476caa1
AP_InertialSensor: remove custom orentations
3 years ago
c7a43f2a90
AP_InertialSensor: put some functions in fast ram
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precisely split backend/frontend on Invensense for RAMFUNC allocation
allow building with no IMUs
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
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As suggested by @tridge
3 years ago
6084682634
AP_InertialSensor: move INS notch filter logging into INS
3 years ago
d44478ff59
AP_InertialSensor: calculate number of notches based on motor count
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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
bbb38504d6
AP_InertialSensor: Fix multi #include's
3 years ago
dac4134533
AP_InertialSensor: move from HAL_NO_GCS to HAL_GCS_ENABLED
3 years ago
fefade783b
AP_InertialSensor: allow accelcal with a rotation
3 years ago
52a52e1e5b
AP_InertialSensor: remove HIL support
4 years ago
9792202810
AP_InertialSensor: Privatize Logging
4 years ago
b3ed4f4b12
AP_InertialSensor: fixed handling of more than 3 accel/gyro instances
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allows for first 3 to work without a panic
4 years ago
2b0bf45891
AP_InertialSensor: remove separate calls to get delta-times for vel and ang
4 years ago
25dd08a1fd
AP_InertialSensor: added force_save_calibration()
4 years ago
6c8a57c2d7
AP_InertialSensor: review fixes
4 years ago
5e60fac37e
AP_InertialSensor: remove unused variable
4 years ago
285b53fe07
AP_InertialSensor: use vector polyfit
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this reduces memory usage
4 years ago
ffe20f7958
AP_InertialSensor: use a fixed reference temperature of 35C
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this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
4 years ago
c9a83c8127
AP_InertialSensor: added INS_TCAL_OPTIONS
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make persistent params optional, and allow save of accelcal
4 years ago
1ddc21c9bb
AP_InertialSensor: support saving tempcal params persistently
4 years ago
8caea96ab1
AP_InertialSensor: start auto-learning at boot
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This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
4 years ago
30e55d8dfc
AP_InertialSensor: cope with user changing TMAX while calibrating
4 years ago
e2e97c67ce
AP_InertialSensor: catch user attempt to change TMAX during cal
4 years ago
3fb720354d
AP_InertialSensor: added notify events for temperature calibration
4 years ago
cc3579ea5d
AP_InertialSensor: change TCAL sampling to be even in temperature
4 years ago
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
4 years ago
0f6f6bac6b
AP_InertialSensor: expose TCal class for use in SITL
4 years ago
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
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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
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
4 years ago
72acc8bfc8
AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt
4 years ago
f6c45c3bcd
AP_InertialSensor: cope with INS_MAX_INSTANCES < 3
4 years ago
c86dcf91d6
AP_InertialSensor: Run vibration monitoring on all instances
4 years ago
faf9bbbf3a
AP_InertialSensor: make the backend fast gyro rate configurable
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raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
5 years ago
61bb42cc0c
AP_InertialSensor: allow up to four distinct notch center frequencies to be updated
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apply the LPF after the notch filters to reduced notch-induced noise
5 years ago
8ac79da643
AP_InertialSensor: FFT gyro window would overflow on windows >= 256
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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
0e9b2a26c5
AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate
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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
3d9776dd6d
AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis.
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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
9dc618ddd4
AP_InertialSensor: added gyro_harmonic_notch_enabled()
5 years ago
Peter Barker
Andy Piper
Andrew Tridgell
Iampete1
Jaaaky
Josh Henderson
Michael du Breuil