Tree: 2559964f04

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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Commit Graph

111 Commits (2559964f0468f050d43894dd34c2175d9a216931)

Author	SHA1	Message	Date
Randy Mackay	6773c0b232	AP_InertialSensor: default primary accel and gyro	10 years ago
Tom Pittenger	a4b8575432	InertialSensor: fix compile warnings re float constants	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
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	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	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	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	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	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
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	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
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
Andrew Tridgell	f54d799bff	AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues	10 years ago
Andrew Tridgell	04bef5ccf3	AP_InertialSensor: don't skip delay if we are a bit early ... this produces a bit more even timing	10 years ago
Emile Castelnuovo	dae32984f1	AP_InertialSensor: use PX4 library for VRBRAIN boards.	10 years ago
LukeMike	6a93148b92	AP_InertialSensor: added library for VRBRAIN Inertial Sensor	10 years ago
Andrew Tridgell	6e62e1ca7b	AP_InertialSensor: make calibrated() const	10 years ago
Andrew Tridgell	8b59c72eb9	AP_InertialSensor: cope with 2 IMUs in SITL	10 years ago
Andrew Tridgell	b3ce56d34d	AP_InertialSensor: fixed 2nd IMU in Replay ... this makes for much more accurate replay runs	10 years ago
Andrew Tridgell	745b739ab7	AP_InertialSensor: make calibrated() function fast enough to call in flight ... this will be used in plane to make AHRS SYS_STATUS unhealthy if a user tries to fly with EKF enabled without a full 3D accel cal. Note that it doesn't rely on using AP_Param load() to detect that a value has been set, as some users are first doing a 3D cal then later doing a 1D cal. In that case load() was returning true and would give a false positive	10 years ago
Andrew Tridgell	06a72839ed	AP_InertialSensor: fixed error detection on secondary IMUs ... the break; was preventing error detection on lsm303d/l3gd20	10 years ago
Andrew Tridgell	b9adc6e466	AP_InertialSensor: prefer sensors that have zero error counts ... if a sensor has failed in flight then try not to use it if another error-free sensor is available	10 years ago
Andrew Tridgell	f84f432ecf	AP_InertialSensor: allow gyro calibration to take up to 30 seconds ... this gives time for the user time to get their battery hatches on and hold the model steady. 5 seconds was just far too short	10 years ago
Andrew Tridgell	ad7c612334	AP_InertialSensor: fixed SITL with new HIL code	10 years ago
Andrew Tridgell	40e83ceb1f	AP_InertialSensor: simplify next sample time calculations ... this makes the calculation much clearer	10 years ago
Andrew Tridgell	a047d1f569	AP_InertialSensor: moved default filter and sample_rate to frontend ... this simplifies the backends and prevents code repitition	10 years ago
Andrew Tridgell	17b2214798	AP_InertialSensor: make it easier to add multiple backends ... use _add_backend() to add new backends on startup	10 years ago
Andrew Tridgell	3a9a5a9c18	AP_InertialSensor: implement gyro and accel health monitoring ... sensor is healthy if it gave a sample on the last update()	10 years ago
Andrew Tridgell	586fa9a816	AP_InertialSensor: added product_id support ... fill in parameter from first backend	10 years ago
Andrew Tridgell	ff5f791343	AP_InertialSensor: converted flymaple driver to new API	10 years ago
Andrew Tridgell	a42af0f2f1	AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN	10 years ago
Andrew Tridgell	2d47a07480	AP_InertialSensor: ported L3G4200D driver to new API	10 years ago
Andrew Tridgell	deafcd6ddc	AP_InertialSensor: improved timing in all drivers	10 years ago