ardupilot

Commit Graph

Author	SHA1	Message	Date
Randy Mackay	6773c0b232	AP_InertialSensor: default primary accel and gyro	10 years ago
Jonathan Challinger	bb88a4f8fe	AP_InertialSensor: healthy() checks bounds	10 years ago
Jonathan Challinger	af80f20a51	AP_InertialSensor: add get_primary_gyro, fix get_primary_accel	10 years ago
Andrew Tridgell	007b01533d	AP_InertialSensor: switched to 16g accel range for MPU9250 this matches the Pixhawk, and makes us less prone to vibration. We have seen clipping at 8g	10 years ago
Tom Pittenger	a4b8575432	InertialSensor: fix compile warnings re float constants	10 years ago
mirkix	13ee34c58a	AP_InertialSensor: MPU9150 fix compiler warnings	10 years ago
Lucas De Marchi	b292873304	AP_InertialSensor: fix starvation in L3G4200D The main thread would always be blocked on the semaphore to read the data from accelerometer and gyroscope. Especially if we have a slow update of these values in _accumulate() due to the I2C transfer function taking too much time: the timer thread would never give up the CPU, causing starvation on the main thread. This fixes the issue by reducing the critical region using a flip-buffer so _accumulate() can work on its own copy of the data. Now that the critical region is smaller, also avoid the semaphore and use a spinlock instead.	10 years ago
Andrew Tridgell	45e016ea5b	AP_InertialSensor: check for zero delta_velocity dt	10 years ago
Jonathan Challinger	b306d7a356	AP_InertialSensor: accel cal sample for 400ms instead of 1s	10 years ago
Jonathan Challinger	1e1d8efa22	AP_InertialSensor: use expected update rate for accel cal sampling	10 years ago
Jonathan Challinger	bd84328440	AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample	10 years ago
Jonathan Challinger	b2b42e081a	AP_InertialSensor: use delta_velocity/dt for calibration if available	10 years ago
Jonathan Challinger	423160eaf8	AP_InertialSensor: publish delta_velocity_dt	10 years ago
Andrew Tridgell	4147825b87	AP_InertialSensor: fixed gyro calibration bug we must not update _gyro_offset[] until we have completed calibration of that gyro, or we will end up using the new offsets when asking for the raw gyro vector	10 years ago
Andrew Tridgell	23272e4013	AP_InertialSensor: added get_temperature() interface this will allow logging of individual temperature sensors	10 years ago
ahcorde	103bb2a08d	AP_InertialSensor: Fix orientation MPU6000 PXF	10 years ago
Andrew Tridgell	cf2445dc97	AP_InertialSensor: prevent nested accelerometer calibration	10 years ago
Andrew Tridgell	8a99cab535	AP_InertialSensor: load only HIL backend for hil_mode	10 years ago
Andrew Tridgell	520c7c1306	AP_InertialSensor: always allow for AK8963 on MPU9250	10 years ago
Andrew Tridgell	60b8736cf1	AP_InertialSensor: use right AK8963 compass defines	10 years ago
Andrew Tridgell	808c33d0a7	AP_InertialSensor: support both MPU9250 and MPU9255 seems to be just different WHOAMI register	10 years ago
Andrew Tridgell	07fd31c724	AP_InertialSensor: change copter filters to 20Hz with the backend filters disabled 20Hz is closer to the old default of 30Hz	10 years ago
Andrew Tridgell	a1d43e39e0	AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz()	10 years ago
Andrew Tridgell	3d7d46b9b0	AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER this allows filtering to be set separately on accels and gyros where possible	10 years ago
Andrew Tridgell	f3314791f2	AP_InertialSensor: removed INS_CALSENSFRAME it is no longer needed as we have shifted the accel cal indexes	10 years ago
Andrew Tridgell	4bc6c8e655	AP_InertialSensor: shift to new parameter indexes for accel calibration this allows for users to switch between development trees and previous stable versions while retaining their accel calibration values.	10 years ago
Andrew Tridgell	5d0eb49114	AP_InertialSensor: calculate queue depth based on requested sample rate this auto-scales the queue depth for plane, rover and copter	10 years ago
Andrew Tridgell	ea49d1cd39	AP_InertialSensor: removed unused variable	10 years ago
Andrew Tridgell	e6a4b9f68c	AP_InertialSensor: check accel health during accel cal	10 years ago
Andrew Tridgell	875339f12a	AP_InertialSensor: try to avoid a compiler fault in travis	10 years ago
Andrew Tridgell	786172aa4e	AP_InertialSensor: removed 1D accel calibration it is finally time to move on from this. We want to push people towards better calibration and removing the 1D accel cal is the first step	10 years ago
Andrew Tridgell	a975520033	AP_InertialSensor: check range of accels in 3D calibration during 3D accel cal it is possible to get data which passes the sphere fit but which has very poor coverage and does not provide sufficient data for a good result. This checks that each axis covers a range of at least 12 m/s/s in body frame	10 years ago
Andrew Tridgell	a8a8628515	AP_InertialSensor: added INS_CALSENSFRAME parameter this allows us to detect if accel calibration was done in sensor frame or not. If it was done in sensor frame then the accel calibration is independent of AHRS_ORIENTATION, which makes it easier to move a board to a new airframe without having to recalibrate.	10 years ago
Jonathan Challinger	bc655ff0cc	AP_InertialSensor_PX4: add optional debug	10 years ago
Jonathan Challinger	074ee49cd0	AP_InertialSensor_PX4: interleave accel and gyro samples by time	10 years ago
Jonathan Challinger	addf80b669	AP_InertialSensor_PX4: explicitly configure sensors, publish deltas	10 years ago
Jonathan Challinger	b5131b7b64	AP_InertialSensor: add coning.py example	10 years ago
Jonathan Challinger	2a547f329b	AP_InertialSensor: allow backends to publish delta velocities and angles	10 years ago
Jonathan Challinger	155c173ed1	AP_InertialSensor: rename _rotate_and_offset to _publish	10 years ago
Jonathan Challinger	502446d821	AP_InertialSensor: use LowPassFilter2pVector3f	10 years ago
Randy Mackay	5f26a36060	INS: protect against two calibrations running at the same time	10 years ago
Randy Mackay	f9c6e35d19	INS: add calibrating method	10 years ago
Randy Mackay	b0e7990c90	INS: set gyro_cal_ok only after completing calibration	10 years ago
Andrew Tridgell	aec7907571	AP_InertialSensor: updated comment on accel check in gyro cal	10 years ago
Andrew Tridgell	494e909703	AP_InertialSensor: ensure accel cal completion messages get through	10 years ago
Andrew Tridgell	38bde56523	AP_InertialSensor: continue finding best gyro after convergence with multiple gyros if we are still calibrating one of the gyros then keep looking for better values for the already converged gyros.	10 years ago
Andrew Tridgell	20a4c98bac	AP_InertialSensor: use accelerometers to prevent bad gyro cal if the board is rotating at a steady rate we can end up with a bad gyro calibration. This can happen on a steadily moving platform such as a ship. This uses the accelerometers to detect the steady movement and not accept the gyro calibration	10 years ago
Andrew Tridgell	434d094993	AP_InertialSensor: allow MAVLink packets to flow during accelcal this uses the snoop functionality of GCS_MAVLink to allow the delay callback to be used during accel calibration	10 years ago
Randy Mackay	b650d39786	InertialSensor: remove product_id set to zero	10 years ago
Andrew Tridgell	9b2d44d6ed	AP_InertialSensor: use delay_microseconds_boost() this gives much more consistent timing for PX4	10 years ago

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427 Commits (2559964f0468f050d43894dd34c2175d9a216931)