e6a4b9f68c
AP_InertialSensor: check accel health during accel cal
10 years ago
875339f12a
AP_InertialSensor: try to avoid a compiler fault in travis
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
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
10 years ago
5f26a36060
INS: protect against two calibrations running at the same time
10 years ago
f9c6e35d19
INS: add calibrating method
10 years ago
b0e7990c90
INS: set gyro_cal_ok only after completing calibration
10 years ago
aec7907571
AP_InertialSensor: updated comment on accel check in gyro cal
10 years ago
38bde56523
AP_InertialSensor: continue finding best gyro after convergence
...
with multiple gyros if we are still calibrating one of the gyros then
keep looking for better values for the already converged gyros.
10 years ago
20a4c98bac
AP_InertialSensor: use accelerometers to prevent bad gyro cal
...
if the board is rotating at a steady rate we can end up with a bad
gyro calibration. This can happen on a steadily moving platform such
as a ship.
This uses the accelerometers to detect the steady movement and not
accept the gyro calibration
10 years ago
b650d39786
InertialSensor: remove product_id set to zero
10 years ago
9b2d44d6ed
AP_InertialSensor: use delay_microseconds_boost()
...
this gives much more consistent timing for PX4
10 years ago
f54d799bff
AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues
10 years ago
04bef5ccf3
AP_InertialSensor: don't skip delay if we are a bit early
...
this produces a bit more even timing
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
8b59c72eb9
AP_InertialSensor: cope with 2 IMUs in SITL
10 years ago
b3ce56d34d
AP_InertialSensor: fixed 2nd IMU in Replay
...
this makes for much more accurate replay runs
10 years ago
745b739ab7
AP_InertialSensor: make calibrated() function fast enough to call in flight
...
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
06a72839ed
AP_InertialSensor: fixed error detection on secondary IMUs
...
the break; was preventing error detection on lsm303d/l3gd20
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
f84f432ecf
AP_InertialSensor: allow gyro calibration to take up to 30 seconds
...
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
10 years ago
ad7c612334
AP_InertialSensor: fixed SITL with new HIL code
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
...
this simplifies the backends and prevents code repitition
10 years ago
17b2214798
AP_InertialSensor: make it easier to add multiple backends
...
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
586fa9a816
AP_InertialSensor: added product_id support
...
fill in parameter from first backend
10 years ago
ff5f791343
AP_InertialSensor: converted flymaple driver to new API
10 years ago
a42af0f2f1
AP_InertialSensor: use common AP_InertialSensor driver for PX4 and VRBRAIN
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
...
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
...
This returns true if the gyros have been calibrated successfully
10 years ago
0803d79701
INS: param descriptions for ACC2, GYR2
11 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
50ae5b2519
InertialSensor: reorder .cpp file to match .h
...
No functional changes
11 years ago
ed6ab5f1d3
AP_InertialSensor: use bool for blocking_read()
...
uint8_t return was confusing
11 years ago
b4c0e1215b
AP_InertialSensor: Use return value of blocking_read to handle calibration timeouts
11 years ago
c5a03ea18e
AP_InertialSensor: init members to reduce compiler warnings
11 years ago
7e04b5d1f1
INS: calibrated method checks all accelerometers
11 years ago
ca12592448
AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk
...
this supports FMUv3
11 years ago
2763393908
AP_InertialSensor: fixed some compiler warnings
11 years ago
a95a3142e0
AP_InertialSensor: use fixed size arrays
...
apparently helps SITL build on MacOS
11 years ago
Andrew Tridgell
Jonathan Challinger
Randy Mackay
Emile Castelnuovo
LukeMike
Andrew Tridgell
Michael Carpenter