39c206ca03
AP_InertialSensor: limit delta-time from INS
...
limit delta-time to 2x average time
DEBUG CODE - DO NOT MERGE
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
efbb030494
AP_InertialSensor: add Robsense PhenixPro Devkit Board support
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
4f2d8f8df4
AP_InertialSensor: use ICM backend for Edge
7 years ago
6a6f9681ab
AP_InertialSensor: allow for 1,1,1 accel scaling
...
this supports simple accel calibration
7 years ago
d5cab1140a
AP_InertialSensor: added simple_accel_cal()
...
this is useful for mass market vehicles where a full 3D accel cal is
too complex.
7 years ago
caa4e3ee89
AP_InertialSensor: remove raspilot
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
db25b6e966
AP_InertialSensor: estimate and log sensor rates for all IMUs
...
this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
8 years ago
e62fdad12c
AP_InertialSensor: added get_last_update_usec()
...
this will be used by the inter-EKF scheduling changes
8 years ago
2e4e4365d0
AP_InertialSensor: enable fast sampling for aerofc
8 years ago
87846fe049
AP_InertialSensor: use MPU6500 on aerofc
8 years ago
b86513f503
AP_InertialSensor: support AUAV21 board
8 years ago
01da36295d
AP_InertialSensor: support the L3GD20H gyro
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this is used by the MRo Pixhawk1
8 years ago
2643e7e906
AP_InertialSensor: Unify from print or println to printf.
8 years ago
d56bad781f
AP_InertialSensor: change if statements to switch statement
...
No functional change
8 years ago
398b7b83dd
AP_InertialSensor: minor formatting fixes
...
No functional change
8 years ago
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
0f984290c3
AP_InertialSensor: enable fast sampling by default on some boards
8 years ago
18d4286166
AP_InertialSensor: fixed pixfalcon 9250 detection
8 years ago
f3f1f6b0b6
AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk
8 years ago
bfbb275577
AP_InertialSensor: on accel cal failure don't save values to zero
...
When the accel calibration fails leave the previous values saved but set them to defaults (scale default is ones, not zeros) and notify the GCS
This fixes an arithmetic exception when doing a second accel cal after the first one failed
8 years ago
624178f3be
AP_InertialSensor: added INS_FAST_SAMPLE parameter
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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
4ebf3309f7
AP_InertialSensor: auto-handle invensense sensor changes
...
some boards swap out MPU6000 for MPU9250 or ICM20608
8 years ago
70c27a85de
AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz
8 years ago
cb70bae167
AP_InertialSensor: use in-tree drivers for PH2SLIM
8 years ago
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
8 years ago
e25a391a8f
AP_InertialSensor: fixed typo
8 years ago
7137d5c6f2
AP_InertialSensor: switch pixracer to always use in-tree drivers
8 years ago
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
8 years ago
03b7bc9e65
AP_InertialSensor: use internal drivers for PHMINI
...
this gets us fast sampling
8 years ago
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
8 years ago
2c1e9024f1
AP_InertialSensor: detect missing accels or gyros
8 years ago
106a91c64c
AP_InertialSensor: use init_gyro() on startup
...
this saves the calibration parameters which should be done on
calibration
8 years ago
408593465f
AP_InertialSensor: fixed rotation for mpu9250 on pixracer
8 years ago
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
8 years ago
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
bbb9bfa95e
AP_InertialSensor: save only gyro calibration
...
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.
Rename the method to _save_gyro_calibration() and save only on gyro
values.
8 years ago
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
4ef92b5e39
AP_InertialSensor: enable all 3 IMUs on PH2
8 years ago
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
Randy Mackay
Peter Barker
HeBin
Alexey Bulatov
Georgii Staroselskii
Lucas De Marchi
Kevin Lopez Alvarez
Leonard Hall
murata
Francisco Ferreira