7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
10 years ago
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
10 years ago
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
10 years ago
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
10 years ago
23272e4013
AP_InertialSensor: added get_temperature() interface
...
this will allow logging of individual temperature sensors
10 years ago
a1d43e39e0
AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz()
10 years ago
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
f3314791f2
AP_InertialSensor: removed INS_CALSENSFRAME
...
it is no longer needed as we have shifted the accel cal indexes
10 years ago
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
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
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
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
2a547f329b
AP_InertialSensor: allow backends to publish delta velocities and angles
10 years ago
f9c6e35d19
INS: add calibrating method
10 years ago
dae32984f1
AP_InertialSensor: use PX4 library for VRBRAIN boards.
10 years ago
6a93148b92
AP_InertialSensor: added library for VRBRAIN Inertial Sensor
10 years ago
6e62e1ca7b
AP_InertialSensor: make calibrated() const
10 years ago
745b739ab7
AP_InertialSensor: make calibrated() function fast enough to call in flight
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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
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
40e83ceb1f
AP_InertialSensor: simplify next sample time calculations
...
this makes the calculation much clearer
10 years ago
a047d1f569
AP_InertialSensor: moved default filter and sample_rate to frontend
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this simplifies the backends and prevents code repitition
10 years ago
17b2214798
AP_InertialSensor: make it easier to add multiple backends
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use _add_backend() to add new backends on startup
10 years ago
3a9a5a9c18
AP_InertialSensor: implement gyro and accel health monitoring
...
sensor is healthy if it gave a sample on the last update()
10 years ago
dbcd02f2be
AP_InertialSensor: converted MPU9150 driver
...
untested conversion
10 years ago
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
10 years ago
2d47a07480
AP_InertialSensor: ported L3G4200D driver to new API
10 years ago
deafcd6ddc
AP_InertialSensor: improved timing in all drivers
10 years ago
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
10 years ago
ec11417705
AP_InertialSensor: converted HIL backend, which gets SITL working
10 years ago
448efc70a3
AP_InertialSensor: first steps in frontend/backend split
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This converts the MPU6000 driver to a frontend/backend structure, and
disables all other drivers. They will be progressively re-enabled as
each is converted
10 years ago
834f2bea07
INS: add gyro_calibrated_ok_all method
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This returns true if the gyros have been calibrated successfully
10 years ago
74553e523d
INS: add get_accel_health_all and get_gyro_health_all
...
Returns true only if all available accels or gyros are healthy
11 years ago
0f908a8ccd
HAL_Linux: Add L3GD20 to the AP_InertialSensor header
11 years ago
51f40fe3d6
INS: add accessor for mpu6k filter
11 years ago
6baedbda1d
AP_InertialSensor: add empty virtual destructor
11 years ago
85fc72c57c
AP_InertialSensor: VRBRAIN added 3th inertial sensor
11 years ago
abb53eb9a2
AP_InertialSensor: simplify using HAL board subtypes
11 years ago
297bb52ced
AP_InertialSensor: added MPU9250 header
11 years ago
ab7e96b9de
AP_InertialSensor: updates for ERLE board type
11 years ago
44320708a7
AP_InertialSensor_MPU9150: I2C userspace driver sensor added.
...
The MPU9150 is a 9 axis sensor that includes 3 accelerometers,
3 gyroscopes and 3 magnetometers. All accessible through I2C.
The AP_InertialSensor_MPU9150 class allows APM to use this sensor.
11 years ago
ca12592448
AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk
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this supports FMUv3
11 years ago
8f552d5758
VRBRAIN: Changed the management of VirtualRobotix's boards.
11 years ago
06744ea7d2
AP_InertialSensor: new files and definitions for VRBRAIN board
11 years ago
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
11 years ago
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
11 years ago
0e18079c47
AP_InertialSensor: allow HIL sensors to support multiple instances
...
this allows log replay to test both sets of sensors on a Pixhawk log
11 years ago
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
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allows use from AP_NavEKF
11 years ago
b7565affcd
INS: add support for 400hz for PX4
11 years ago
58d3729d16
AP_InertialSensor: fixed default health functions
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this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
11 years ago
cba0cb963a
AP_InertialSensor: auto-failover to working gyro and accel
11 years ago
Andrew Tridgell
Jonathan Challinger
Randy Mackay
Emile Castelnuovo
LukeMike
Andrew Tridgell
Víctor Mayoral Vilches