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
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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
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this auto-scales the queue depth for plane, rover and copter
10 years ago
786172aa4e
AP_InertialSensor: removed 1D accel calibration
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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
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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
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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
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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
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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
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sensor is healthy if it gave a sample on the last update()
10 years ago
dbcd02f2be
AP_InertialSensor: converted MPU9150 driver
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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
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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.
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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
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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
a0688a69d4
AP_InertialSensor: generalise the accel/gyro calibration for N sensors
11 years ago
2753449e75
AP_InertialSensor: added support for multiple accel/gyro devices
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this makes it possible to ask for the gyro and accel vectors from
secondary INS devices.
11 years ago
f10a4b04ae
AP_InertialSensor: make PX4 healthy call _get_sample()
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this prevents a false positive during times like arming where we are
not reading the sensors
11 years ago
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
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used to detect bad accels
11 years ago
9ecd889e9d
AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed
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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
1cd070a2e7
AP_InertialSensor: use const reference returns
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saves some vector copies
11 years ago
Andrew Tridgell
Jonathan Challinger
Randy Mackay
Emile Castelnuovo
LukeMike
Andrew Tridgell
Víctor Mayoral Vilches