ardupilot

Commit Graph

Author	SHA1	Message	Date
murata	2643e7e906	AP_InertialSensor: Unify from print or println to printf.	8 years ago
Lucas De Marchi	5472bc4de1	Global: change Device::PeriodicCb signature Remove bool return as it's never being used and not supported on PX4.	8 years ago
mirkix	62fabca19d	AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963	8 years ago
Randy Mackay	946d30476a	AP_InertialSensor: fix whoami for MPU6k	8 years ago
Lucas De Marchi	9569ed94a9	AP_InertialSensor: Invensense: use capital letters for define	8 years ago
Andrew Tridgell	65b9b86099	AP_InertialSensor: unify MPU6000 and MPU9250 drivers make a single AP_InertialSensor_Invensense driver. This avoids a lot of duplication and will save time as new varients are added	8 years ago
Pierre Kancir	13c16e187f	InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part	8 years ago
Randy Mackay	699279ed1f	AP_InertialSensor: fix build warning for MPU6000	8 years ago
Andrew Tridgell	f9845c93b1	AP_InertialSensor: keep transfers nicely setup for DMA on stm32 this avoids using stack based bounce buffers which may not support DMA on stm32	8 years ago
Andrew Tridgell	771cedca3d	AP_InertialSensor: reduced number of SPI transfers use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO error when possible	8 years ago
Andrew Tridgell	27605b0258	AP_InertialSensor: run invensese reg checking at low speed config register read/write should be at low bus speed. also change to check every 20 calls to reduce checking cost	8 years ago
Andrew Tridgell	f3a778f980	AP_InertialSensor: fixed freeing of fifo buffer	8 years ago
Andrew Tridgell	6f28c61c8d	AP_InertialSensor: changed SIZE to LEN thanks to Lucas for suggestion	8 years ago
hiro2233	cb7f46d653	AP_InertialSensor: fixed handling of user_ctrl register with aux bus implementations	8 years ago
Andrew Tridgell	9b4c588c09	AP_InertialSensor: adapt drivers for SPI-DMA capable systems no longer need accumulate() transfers with SPI enabled DMA on stm32	8 years ago
Andrew Tridgell	28daddaaf2	AP_InertialSensor: don't use accumulate approach on Linux or I2C	8 years ago
Andrew Tridgell	d9c8db7024	AP_InertialSensor: implement a new strategy for fast sampling this moves to using a 1p filter on the high rate data, followed by averaging down to 1kHz then a 2p filter to apply configured cutoff frequency. It also fixes the FIFO reset to not cause data corruption. We need to disable all FIFO channels before doing the reset, and wait for the FIFO to stop in the sensor. Finally it moves sampling of the MPU6000 and MPU9250 into the main thread. That significantly improves scheduling performance as we no longer get long FIFO SPI transfers happening during other tasks. All transfers happen at the start of the fast loop. That makes timing much more predictable. Thanks to Leonard and Paul for help with this design!	8 years ago
Lucas De Marchi	87c6d5da13	AP_InertialSensor: replace panic() with return When blocking forever there's no reason to call panic later since it will never going to be reached. This reduces binary size in a few bytes since the message isn't required anymore.	8 years ago
Andrew Tridgell	6129b1abb6	AP_InertialSensor: wait forever for semaphore on startup some boards take a silly amount of time to get semaphore on startup	8 years ago
Andrew Tridgell	216cf53922	AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 this prevents temporary corruption of INS data on FIFO overflow	8 years ago
Andrew Tridgell	624178f3be	AP_InertialSensor: added INS_FAST_SAMPLE parameter this allows enable/disable of fast sampling per IMU, making experimentation easier. It also fixes the fast sampling to always average over 8 samples, and fixes the 9250 to use the correct accumulator when not doing fast sampling	8 years ago
Andrew Tridgell	c0303ffe8a	AP_InertialSensor: temporarily disable fast sampling a problem has been found with the filtering with fast sampling on ICM-20608 and MPU9250. Disable until it is solved.	8 years ago
Andrew Tridgell	c794ad9ee8	AP_InertialSensor: use smaller FIFO buffers this allows for reading multiple chunks from the fifo per callback	8 years ago
Andrew Tridgell	77a83c091a	AP_InertialSensor: added register checking for MPU6000/ICM20608	8 years ago
Andrew Tridgell	af0ec41652	AP_InertialSensor: fixed accel clip detection with fast sampling we need to check on every sample at the full rate	8 years ago
Andrew Tridgell	8da42b7a8b	AP_InertialSensor: fixed temperature for fast sampling case	8 years ago
Andrew Tridgell	e27a76e460	AP_InertialSensor: fixed auxiliary bus with FIFO enabled make sure fifo reset doesn't check I2C master enable	8 years ago
Andrew Tridgell	46785e8ecf	AP_InertialSensor: improved method for FIFO integrity checking check temperature every 255 samples against FIFO data	8 years ago
Andrew Tridgell	d2f6a514b9	AP_InertialSensor: catch FIFO alignment errors using temperature reading Two cases of what seems to be FIFO alignment errors have been seen on a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per transfer we can catch these by looking for sudden temperature changes caused by bad data in the temperature registers.	8 years ago
Andrew Tridgell	d248b33104	AP_InertialSensor: simplify config of MPU6000 use zero sample rate divider on both MPU6000 and ICM20608	8 years ago
Andrew Tridgell	84c3e29891	AP_InertialSensor: use AP_HAL rotations for MPU6000	8 years ago
Andrew Tridgell	2f01dfe81c	AP_InertialSensor: fixed from review by Lucas	8 years ago
Andrew Tridgell	81b933d9d0	AP_InertialSensor: use int32_t summation for fast sampling very slightly faster	8 years ago
Andrew Tridgell	af1c5fd6d3	AP_InertialSensor: always use FIFO on MPU6000 and enable fast sampling on ICM20608 if on SPI	8 years ago
Andrew Tridgell	a9a5e50bd1	AP_InertialSensor: removed timer callback for MPU6000 Thanks to Lucas for pointing out this is not needed	8 years ago
Andrew Tridgell	bd84e592f8	AP_InertialSensor: check for NULL device pointer in probe() handle missing devices	8 years ago
Andrew Tridgell	3d7d773883	AP_InertialSensor: added support for ICM20608 on Pixracer	8 years ago
Andrew Tridgell	aa4025bdf9	AP_InertialSensor: make INS sensor IDs match for PX4 in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2	8 years ago
Andrew Tridgell	9e7e1b2f01	AP_InertialSensor: fixed merge conflicts with patches from Lucas	8 years ago
Lucas De Marchi	104e29acf2	AP_InertialSensor: MPU6000: change accel scale to 16G Also change the ID of MPU6000 so previous calibration values are not considered valid.	8 years ago
Lucas De Marchi	dc09661b9e	AP_InertialSensor: MPU6000: save driver version When registering accel and gyro we use the upper 16bits of the id to store the driver version. When changing the driver behavior in non-compatible ways, changing this version will trigger a request for calibration.	8 years ago
Lucas De Marchi	0d3adef8b2	AP_InertialSensor: MPU6000: remove TODO leftover This will never be done as blindly changing speed is not the way to fix communication issues.	8 years ago
Lucas De Marchi	469efb00f6	AP_InertialSensor: save id for gyro and accel instances This allows each sensor to be uniquely identified in the system by using either the index inside the backend or for those that use the Device interface, to use the bus type, location, and device id. We leave 16-bit for each sensor to be able to change its own identification in future, which allows them to be changed in an incompatible manner forcing a re-calibration.	8 years ago
Lucas De Marchi	ace61087a1	AP_InertialSensor: remove product_id We only leave the parameter there for backward-compatibility. However product id on the inertial sensor is not much useful since it's only kept for the first instance. A better implementation per-gyro and per-accel is needed in order to avoid problems with sensors taking the offsets configured for another sensor.	8 years ago
Andrew Tridgell	64a5d3938c	AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus	8 years ago
Andrew Tridgell	a5c5e033d2	AP_InertialSensor: fixed threading and locking in remaining backends use a backend semaphore for shared data and use thread per bus where available	8 years ago
Andrew Tridgell	2df6ed08c2	AP_InertialSensor: added optional per-instance orientation this is needed for multi-sensor boards to get orientation right for each sensor	8 years ago
Andrew Tridgell	919aa61918	AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()	8 years ago
Andrew Tridgell	2b66df68a1	AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000	8 years ago
Mathieu OTHACEHE	152edf7189	Global: remove mode line from headers Using a global .dir-locals.el file is a better alternative than reincluding the same emacs header in every file of the project.	8 years ago

6 Commits (94fb390bda8e2e561c47b00d4af1bcc32ada191d)