6a2c585632
AP_InertialSensor: fixed build warnings
10 years ago
aaa35bd1ec
AP_InertialSensor: using atan2f() gives more accurate euler corrections
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thanks to Jon and Paul!
10 years ago
9e723ef907
AP_InertialSensor: added calibrate_trim() function
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used for redoing trim calculation
10 years ago
b564ba0868
AP_InertialSensor: fixed AHRS_TRIM calculation again
10 years ago
159599879f
AP_InertialSensor: simplify and correct AHRS_TRIM computation
10 years ago
1f14eec4ea
InertialSensor: accel_calibrated_all_ok replaces calibrated
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This checks that the current number of accelerometers matches the number
of calibrated accels in order to catch accel failures at boot
10 years ago
8bf2baef70
AP_InertialSensor: fixed primary accel/gyro in replay
10 years ago
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
10 years ago
089e63f987
AP_InertialSensor: fixed PSTR handling
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must use PSTR on code compiled for AVR
10 years ago
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
10 years ago
9e98c68099
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
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PSTR() goofs things up when using hal.console->printf_P()
10 years ago
820199635b
AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float)
10 years ago
3cb2221315
AP_IntertialSensor: double to float warning
10 years ago
6773c0b232
AP_InertialSensor: default primary accel and gyro
10 years ago
a4b8575432
InertialSensor: fix compile warnings re float constants
10 years ago
45e016ea5b
AP_InertialSensor: check for zero delta_velocity dt
10 years ago
b306d7a356
AP_InertialSensor: accel cal sample for 400ms instead of 1s
10 years ago
1e1d8efa22
AP_InertialSensor: use expected update rate for accel cal sampling
10 years ago
bd84328440
AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample
10 years ago
b2b42e081a
AP_InertialSensor: use delta_velocity/dt for calibration if available
10 years ago
4147825b87
AP_InertialSensor: fixed gyro calibration bug
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we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
10 years ago
cf2445dc97
AP_InertialSensor: prevent nested accelerometer calibration
10 years ago
8a99cab535
AP_InertialSensor: load only HIL backend for hil_mode
10 years ago
07fd31c724
AP_InertialSensor: change copter filters to 20Hz
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with the backend filters disabled 20Hz is closer to the old default of
30Hz
10 years ago
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
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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
4bc6c8e655
AP_InertialSensor: shift to new parameter indexes for accel calibration
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this allows for users to switch between development trees and previous
stable versions while retaining their accel calibration values.
10 years ago
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
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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
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
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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
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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()
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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
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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
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this makes for much more accurate replay runs
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
Andrew Tridgell
Jonathan Challinger
Randy Mackay
Tom Pittenger
Emile Castelnuovo
LukeMike