ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	dcef9bb3b8	AP_InertialSensor: converted the MPU9250 driver to new API	10 years ago
Andrew Tridgell	dcdb53584b	AP_InertialSensor: use lockless structures in MPU9250 driver this avoids suspending timers when transferring data between main thread and SPI read thread	11 years ago
Andrew Tridgell	a14f8dbd0a	AP_InertialSensor_MPU9250: use micros64() and millis64()	11 years ago
Andrew Tridgell	3c2ab31415	AP_InertialSensor: get rid of data_ready for MPU9250 when running off a 1kHz timer and reading at 1kHz it is better to double sample than it is to skip a sample, as skipping samples will throw the filter off, whereas a double sample will have minimal effect	11 years ago
Andrew Tridgell	9e01c657e5	AP_InertialSensor: update MPU9250 driver for 1kHz operation use a time base sample wait, with 1kHz sampling	11 years ago
Andrew Tridgell	50068a7c6a	AP_InertialSensor: fixed default orientation for PXF board MPU9250	11 years ago
Víctor Mayoral Vilches	5e5319e23b	AP_InertialSensor: MPU9250 cleaning	11 years ago
Mikhail Avkhimenia	34da221c3d	AP_InertialSensor: Use MPU9250 DRDY pin only on boards that support it	11 years ago
Andrew Tridgell	d1ba78002d	AP_InertialSensor: added paranoid check for DRDY pin	11 years ago
Andrew Tridgell	6f9965cc22	AP_InertialSensor: fixed setup of DRDY pin on MPU9250	11 years ago
Andrew Tridgell	6a6dbe5790	AP_InertialSensor: added check for WHOAMI on MPU9250	11 years ago
Andrew Tridgell	abb53eb9a2	AP_InertialSensor: simplify using HAL board subtypes	11 years ago
Andrew Tridgell	848b563fc3	AP_InertialSensor: rotate acccel/gyro for PXF	11 years ago
Víctor Mayoral Vilches	aa60a89cda	AP_InertialSensor_MPU9250: Fix SPI CS.	11 years ago
Víctor Mayoral Vilches	5e7e28a83e	AP_InertialSensor_MPU9250.cpp: Update the DRDY pin.	11 years ago
Víctor Mayoral Vilches	fac3d1c271	AP_InertialSensor_MPU9250: SPI userspace sensor driver. InvenSense MPU9250 sensor driver and test code (available under libraries/examples/).	11 years ago
Andrew Tridgell	ece01da10e	AP_InertialSensor: fixed _dump_registers() for MPU6000 need to take the semaphore to prevent bus errors	11 years ago
Andrew Tridgell	b1c5f23bbd	AP_InertialSensor: make get_delta_time() const allows use from AP_NavEKF	11 years ago
Andrew Tridgell	a0688a69d4	AP_InertialSensor: generalise the accel/gyro calibration for N sensors	11 years ago
Andrew Tridgell	2753449e75	AP_InertialSensor: added support for multiple accel/gyro devices this makes it possible to ask for the gyro and accel vectors from secondary INS devices.	11 years ago
Andrew Tridgell	80def01fbe	AP_InertialSensor: fixed semaphore error on startup for MPU6000	11 years ago
Andrew Tridgell	f5299e2e11	AP_InertialSensor: added healthy check for PX4 and HIL used to detect bad accels	11 years ago
Andrew Tridgell	9ecd889e9d	AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed this uses bad data or bad INT_STATUS values from the MPU6000 to detect the sensor running too fast and lower bus speed	11 years ago
Andrew Tridgell	b98bcbf715	AP_InertialSensor: automatically lower bus speed on mpu6k bad reads	11 years ago
Andrew Tridgell	bdc40cc7df	AP_InertialSensor: try to lower SPI bus speed on errors	11 years ago
Andrew Tridgell	9833900f91	AP_InertialSensor: run MPU6000 sensor register reads at 8MHz run other register IO at 500kHz	11 years ago
Andrew Tridgell	e5e4cdee18	AP_InertialSensor: added wait_for_sample() API call this waits for a new INS sample to arrive, using whatever method is most efficient on each INS type	12 years ago
Andrew Tridgell	dda68bddcb	AP_InertialSensor: updates for AP_HAL::MemberProc	12 years ago
Andrew Tridgell	03036c632d	AP_InertialSensor: use new scheduler API	12 years ago
Randy Mackay	f7ba0438ef	InertialSensor: remove DMP this saves 3K of flash	12 years ago
Andrew Tridgell	14636e1cdf	AP_InertialSensor: changed num_samples_available() to sample_available() this makes the interface clearer. It also fixes a 3D accel cal bug.	12 years ago
Andrew Tridgell	1ec5cbed81	AP_InertialSensor: removed SMACCM support	12 years ago
Andrew Tridgell	770b7b5901	AP_InertialSensor: prevent a lockup in MPU6000 driver thanks to the VRBrain port for noticing this bug. Failing to get the semaphore is an expected error with the MPU6000, as we read data both from timer context and mainline code. That means semaphore conflicts are inevitable. We shouldn't consider them an error, and shouldn't panic when some arbitrary number of them have happened since boot. Instead the wait_for_sample() code checks that we receive new data at least every 50ms. That is a much safer test.	12 years ago
Andrew Tridgell	76e20150e9	AP_InertialSensor: ensure parent class is initialised in instance classes	12 years ago
Randy Mackay	af13f6795c	INS: switch to global definition of GRAVITY_MSS saves 4 bytes of RAM	12 years ago
Randy Mackay	318a831b57	INS: set default filter to 20hz for APM2.x and PX4	12 years ago
Andrew Tridgell	a63275d284	AP_InertialSensor: expand register range in MPU6000 _dump_registers()	12 years ago
Andrew Tridgell	7b1245937c	AP_InertialSensor: always sample at 200Hz in MPU6000 this changes the sampling to 200Hz regardless of requested rate, and it is downsampled inside num_samples_available() using a shift. This gives better noise resistance in ArduPlane. This patch also makes it possible to update the filter frequency while running, which is very useful for bench testing with a vibration source	12 years ago
Randy Mackay	bad81a5113	AP_InertialSensor_MPU6k: remove unnecessary check of sign when receiving fifo packet from dmp	12 years ago
James Bielman	5631f865b2	Update floating point calculations to use floats instead of doubles. - Allows use of hardware floating point on the Cortex-M4. - Added "f" suffix to floating point literals. - Call floating point versions of stdlib math functions.	12 years ago
Andrew Tridgell	d7996acdf7	AP_InertialSensor: added set_board_orientation() method	12 years ago
Andrew Tridgell	6142eac4b4	AP_InertialSensor: simplify get_delta_time() API use a single float return rather than two APIs. This also changes the MPU6k driver to match the new 2.9 behaviour of using the MPU6k sample timing instead of micros()	12 years ago
Pat Hickey	910e09fc96	AP_InertialSensor_MPU6000: fix sync/async semaphore usage with new scheduler	12 years ago
James Bielman	8e38ef6567	MPU6000: Flip Y and Z axes for SMACCM_HAL. - The accelerometer is upside-down on the PX4FMU vs the APM2.	12 years ago
James Bielman	1309b7332a	MPU6000: Use signed addition when accumulating readings. - Fixes very erratic accel readings on the PX4 board.	12 years ago
Andrew Tridgell	f48790a56e	AP_InertialSensor: poll for new data in num_samples_available() this lowers the latency for new data	12 years ago
Andrew Tridgell	4ab1cddd15	AP_InertialSensor: ensure we always have the SPI semaphore for MPU6k	12 years ago
Andrew Tridgell	b39166b71a	MPU6000: fixed minor timing bug if we miss a sample due to SPI contention we shouldn't update last sample time	12 years ago
James Bielman	d84ba8ef59	Use HAL suspend/resume timer procs rather than atomic. - Preparation for removing begin/end atomic.	12 years ago
Pat Hickey	d808c19c10	AP_InertialSensor_MPU6000: uses new semaphores * some refactoring to fix differences between timerprocess and non-timerprocess usage	12 years ago

16 Commits (37dea4e367b58a985a50b740cf0987bb004eddf1)