ardupilot

Commit Graph

Author	SHA1	Message	Date
Peter Barker	dac4134533	AP_InertialSensor: move from HAL_NO_GCS to HAL_GCS_ENABLED	3 years ago
Andrew Tridgell	fefade783b	AP_InertialSensor: allow accelcal with a rotation	3 years ago
Peter Barker	52a52e1e5b	AP_InertialSensor: remove HIL support	4 years ago
Josh Henderson	9792202810	AP_InertialSensor: Privatize Logging	4 years ago
Andrew Tridgell	b3ed4f4b12	AP_InertialSensor: fixed handling of more than 3 accel/gyro instances allows for first 3 to work without a panic	4 years ago
Peter Barker	2b0bf45891	AP_InertialSensor: remove separate calls to get delta-times for vel and ang	4 years ago
Andrew Tridgell	25dd08a1fd	AP_InertialSensor: added force_save_calibration()	4 years ago
Andrew Tridgell	6c8a57c2d7	AP_InertialSensor: review fixes	4 years ago
Andrew Tridgell	5e60fac37e	AP_InertialSensor: remove unused variable	4 years ago
Andrew Tridgell	285b53fe07	AP_InertialSensor: use vector polyfit this reduces memory usage	4 years ago
Andrew Tridgell	ffe20f7958	AP_InertialSensor: use a fixed reference temperature of 35C 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
Andrew Tridgell	c9a83c8127	AP_InertialSensor: added INS_TCAL_OPTIONS make persistent params optional, and allow save of accelcal	4 years ago
Andrew Tridgell	1ddc21c9bb	AP_InertialSensor: support saving tempcal params persistently	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	30e55d8dfc	AP_InertialSensor: cope with user changing TMAX while calibrating	4 years ago
Andrew Tridgell	e2e97c67ce	AP_InertialSensor: catch user attempt to change TMAX during cal	4 years ago
Andrew Tridgell	3fb720354d	AP_InertialSensor: added notify events for temperature calibration	4 years ago
Andrew Tridgell	cc3579ea5d	AP_InertialSensor: change TCAL sampling to be even in temperature	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	0f6f6bac6b	AP_InertialSensor: expose TCal class for use in SITL	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	72acc8bfc8	AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt	4 years ago
Andrew Tridgell	f6c45c3bcd	AP_InertialSensor: cope with INS_MAX_INSTANCES < 3	4 years ago
Michael du Breuil	c86dcf91d6	AP_InertialSensor: Run vibration monitoring on all instances	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
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
Andrew Tridgell	9dc618ddd4	AP_InertialSensor: added gyro_harmonic_notch_enabled()	5 years ago
Andrew Tridgell	77d21f9f5d	AP_InertialSensor: return HarmonicNotchDynamicMode	5 years ago
Andy Piper	6381183aa3	AP_InertialSensor: expose harmonic notch tracking mode	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	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	36878e9b3c	AP_InertialSensor: Allow all filter frequencies to be 16bit.	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	9c48d001ac	AP_InertialSensor: skip gyro cal on watchdog reset	6 years ago
Siddharth Purohit	8c2d3945de	AP_IneertialSensor: add support for custom accel scale adds support for 30g measurement on ICM20649	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
Michael du Breuil	983356213a	AP_InertialSensor: Remove unused parameter	6 years ago
Peter Barker	011c93f38e	AP_InertialSensor: add override keyword	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
Peter Barker	be634a893f	AP_InertialSensor: remove unused ins error count logging	7 years ago
Peter Barker	2396a248ed	AP_InertialSensor: use ahrs singleton for simple accelcal	7 years ago
Andrew Tridgell	e8726865ab	AP_InertialSensor: Correct scaling of batch data	7 years ago

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225 Commits (1af244e5bcbbe4b06ae62ef1949ac87c07ac1bf9)