ardupilot

Commit Graph

Author	SHA1	Message	Date
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
James Bielman	acf05a29ee	AP_InertialSensor_MPU6000: Poll status register if there is no data ready pin.	12 years ago
Andrew Tridgell	212728be34	InertialSensor: ensure MPU6000 is out of sleep mode before configuring the MPU6000 starts in sleep mode, and can take a while to wakeup	12 years ago
Andrew Tridgell	122b8716a7	InertialSensor: added auto reset of MPU6000 on startup failure this works around the problem of the MPU6000 failing to come up on DTR reset or warm reboot	12 years ago
Andrew Tridgell	44ad850542	InertialSensor: latch the data ready pin high on new data this ensures we don't miss a sample due to another source of delay	12 years ago
Andrew Tridgell	e2edad8a3f	InertialSensor: fixed last sample time in MPU6000 we lost this in the final work on the DTR bug	12 years ago
Andrew Tridgell	1a53bc783c	InertialSensor: poll data ready pin instead of an interrupt for MPU6k	12 years ago
Andrew Tridgell	9548e7e79e	InertialSensor: simplify the data_ready interrupt handling this avoids using the defer process code, and fixes a nasty bug that caused the APM to lockup on reset	12 years ago
Andrew Tridgell	44f860e102	InertialSensor: fixed some compiler warnings	12 years ago
Pat Hickey	b502732249	AP_InertialSensor: rewrite basic code for spi device transactions * I'm not touching that DMP stuff because I'm pretty convinced it should instead be deprecated	12 years ago
Pat Hickey	a4f41c1d29	AP_InertialSensor: MPU6000 uses scheduler panic	12 years ago
Andrew Tridgell	2c1682f310	InertialSensor: use AP_HAL progmem	12 years ago
Andrew Tridgell	c9a81d7de6	AP_InertialSensor: fixed sign of 16 bit SPI transfer this gets accels and gyros working again	12 years ago
Pat Hickey	9aca19415a	AP_InertialSensor: robust semaphores	12 years ago
Pat Hickey	1019fb45e7	AP_InertialSensor: remove sei in data interrupt handler	12 years ago
Pat Hickey	4acf2c8591	AP_InertialSensor: ported to AP_HAL	12 years ago
rmackay9	b4e5176e2a	ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.	12 years ago
Andrew Tridgell	3b18c57691	AP_InertialSensor: removed axis getters for accel/gyro these were only being used in one place, and in that place were used incorrectly!	12 years ago
Andrew Tridgell	b237c0583d	AP_InertialSensor: Added INS_MPU6K_FILTER option this allows the user to select the MPU6000 filtering frequency	12 years ago
Andrew Tridgell	089ae0f9f3	AP_InertialSensor: allow specification of sample rate in init() call this lets the caller not need to know the underlying sample rate. They just ask for what rate updates happen. This also changes the MPU6k filtering to be less than half the sample rate	12 years ago
Andrew Tridgell	f843705da3	INS: switch to SREG = oldSREG pattern for interrupt mask/restore	12 years ago

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83 Commits (7233a567fb368e55993ba7f4d0ead0a11f6b598b)