99499dece2
AP_InertialSensor: removed create() method for objects
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See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
39c206ca03
AP_InertialSensor: limit delta-time from INS
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limit delta-time to 2x average time
DEBUG CODE - DO NOT MERGE
7 years ago
a0af4af5b5
AP_InertialSensor: debugging code for EK2 bug
7 years ago
38145f9541
AP_InertialSensor: fix param docs for notch and log settings
7 years ago
161e2145cb
AP_InertialSensor: tighten type of simple_accel_cal result
7 years ago
c056076e85
AP_InertialSensor: fix code style problem, delete useless codes
7 years ago
efbb030494
AP_InertialSensor: add Robsense PhenixPro Devkit Board support
7 years ago
eab1d3af4f
AP_InertialSensor: don't apply offsets in SITL backend
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the offsets are applied in the rotate and correct methods
7 years ago
b997f445ff
AP_InertialSensor: include sample count in ISBH
7 years ago
9566abb3a8
AP_InertialSensor: add IMU batch sampling
7 years ago
5096e2fca9
AP_InertialSensor: use df singleton, factor out log_{gyro,accel}_raw
7 years ago
069c98b8a9
AP_InertialSensor: Edge: add sensor's rotation YAW_90
7 years ago
ac6f7511bd
AP_InertialSensor: examples: print temperature
7 years ago
4f2d8f8df4
AP_InertialSensor: use ICM backend for Edge
7 years ago
6a6f9681ab
AP_InertialSensor: allow for 1,1,1 accel scaling
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this supports simple accel calibration
7 years ago
f513c1c8dd
AP_InertialSensor: support rotated IMUs in SITL
7 years ago
d5cab1140a
AP_InertialSensor: added simple_accel_cal()
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this is useful for mass market vehicles where a full 3D accel cal is
too complex.
7 years ago
b05610870c
global: use static method to construct AP_Rally
7 years ago
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
7 years ago
87b30b4552
global: use static method to construct AP_InertialSensor
7 years ago
d566567d87
AP_InertialSensor: add static create method
7 years ago
caa4e3ee89
AP_InertialSensor: remove raspilot
8 years ago
06fe5ce8ba
AP_InertialSensor: implement periodic thread for AuxiliaryBus
8 years ago
7e1368f7a5
AP_InertialSensor: implement notch filter on gyro
8 years ago
ca3627c140
AP_InertialSensor: add ppro support
8 years ago
51fa8fb0bd
AP_InertialSensor: resolve member init order compiler warning
8 years ago
edc9d4db5b
AP_InertialSensor: increase accel filter to 20hz
8 years ago
6ae86a0b8c
AP_InertialSensor: use DataFlash should_log to determine raw logging
8 years ago
447b20efa5
AP_InertialSensor: reduce accel filter to 10hz
8 years ago
62b826953d
AP_InertialSensor: use AP_Math rand_float()
8 years ago
bfd8d151c8
AP_InertialSensor: lower slave rate with fast sampling
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On an invensense IMU with fast sampling we need to lower the slave
sample rate for slave sensors such as the built-in AK8963 compass on a
MPU9250.
The slave rate is set as a multiple of the main rate, so it needs to be
much lower for fast sampling. If we leave it high then it greatly
impacts on IMU sample rate.
Without this change a MPU9250 with fast sampling and a compass enabled
will give a gyro rate of around 7200Hz. With this change it gets 7760Hz
8 years ago
519a293af9
AP_InertialSensor: fixed instance usage in set_gyro_oversampling()
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thanks Francisco!
8 years ago
112b22516a
AP_InertialSensor: fixed use of accel2_noise
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thanks Francisco!
8 years ago
2876f1467c
AP_InertialSensor: converge sensor rate quickly, then slowly
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converge fast for the first 60 seconds, then more slowly to reduce
noise
8 years ago
db25b6e966
AP_InertialSensor: estimate and log sensor rates for all IMUs
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this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
8 years ago
49cc0965c0
AP_InertialSensor: separate handling of FIFO and non-FIFO sensors
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FIFO sensors produce data at a well known rate, but samples come in
bunches, so we can't use the system clock to calculate deltaT.
non-FIFO sensors produce data when we sample them, but that rate is
less regular due to timing jitter.
For FIFO sensors this changes makes us use a learned sample rate,
which allows for different clock speeds on sensor and system board.
For non-FIFO sensors we use the system clock to measure deltaT
the overall effect is a fix for sensors that produce samples at other
than the claimed datasheet rate.
8 years ago
74eb7a7243
AP_InertialSensor: make SITL sensor rate match a Pixhawk1
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use 760Hz 2nd gyro and 800 Hz 2nd accel
8 years ago
25cd16a275
AP_InertialSensor: fixed LSM303D registered sample rate
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we are running the LSM303D at 1600Hz, and are sampling it at 1kHz. We
need to tell the AP_InertialSensor layer that samples will arrive at 1kHz
8 years ago
e62fdad12c
AP_InertialSensor: added get_last_update_usec()
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this will be used by the inter-EKF scheduling changes
8 years ago
c952e58edb
AP_InertialSensor: fixed invensense driver temp reading
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different parts have quite different zero offsets in temperature
8 years ago
2e4e4365d0
AP_InertialSensor: enable fast sampling for aerofc
8 years ago
87846fe049
AP_InertialSensor: use MPU6500 on aerofc
8 years ago
875274e761
AP_InertialSensor: added support for ICM-20602
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treat the same as a 20608
8 years ago
b86513f503
AP_InertialSensor: support AUAV21 board
8 years ago
2d50eb312c
AP_InertialSensor: add support to MPU6500
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Just like and MPU9250 without mag and with different WHOAMI register.
8 years ago
a3f5b4f319
AP_InertialSensor: Change from magic number 0 to definition name.
8 years ago
9535b45cc9
AP_InertialSensor: examples: fix double to float warnings
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While at it add function prototype.
8 years ago
01da36295d
AP_InertialSensor: support the L3GD20H gyro
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this is used by the MRo Pixhawk1
8 years ago
0733d760f6
AP_HAL_VRBRAIN: Unify from print or println to printf.
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AP_InertialSensor: Unify from print or printin to printf.
8 years ago
2643e7e906
AP_InertialSensor: Unify from print or println to printf.
8 years ago
Andrew Tridgell
Randy Mackay
Peter Barker
HeBin
Alexey Bulatov
Georgii Staroselskii
Lucas De Marchi
Kevin Lopez Alvarez
Leonard Hall
murata