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
06a72839ed
AP_InertialSensor: fixed error detection on secondary IMUs
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the break; was preventing error detection on lsm303d/l3gd20
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
f84f432ecf
AP_InertialSensor: allow gyro calibration to take up to 30 seconds
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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
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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
586fa9a816
AP_InertialSensor: added product_id support
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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
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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
0803d79701
INS: param descriptions for ACC2, GYR2
11 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
50ae5b2519
InertialSensor: reorder .cpp file to match .h
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No functional changes
11 years ago
ed6ab5f1d3
AP_InertialSensor: use bool for blocking_read()
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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
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this supports FMUv3
11 years ago
2763393908
AP_InertialSensor: fixed some compiler warnings
11 years ago
a95a3142e0
AP_InertialSensor: use fixed size arrays
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apparently helps SITL build on MacOS
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
68b3b31499
Param doc typo
11 years ago
965e5b2dfd
INS: check for good calibration for 10seconds
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Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration. This restores the total time to 10
seconds.
11 years ago
1f76ada9dd
INS: shortened gyro calibration
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Removed delays before calibration, reduced number of samples taken,
widened convergence criteria
11 years ago
a400ddeb88
INS: replace APM with vehicle in accel calibrate
11 years ago
23a112c5d5
AP_InertialSensor: reduce the number of format string warnings
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
fd9b115d01
INS: move Product ID to @User Advanced
11 years ago
aef9289476
AP_InertialSensor: added INS_PRODUCT_ID values
11 years ago
e5e4cdee18
AP_InertialSensor: added wait_for_sample() API call
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this waits for a new INS sample to arrive, using whatever method is
most efficient on each INS type
12 years ago
c17a5e5ed1
AP_InertialSensor: added a small delay in accel calibration
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allows threads to run on Linux
12 years ago
14636e1cdf
AP_InertialSensor: changed num_samples_available() to sample_available()
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this makes the interface clearer. It also fixes a 3D accel cal bug.
12 years ago
f8e9d48a76
AP_InertialSensor: removed the flash_leds() callback
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AP_Notify now handles this
12 years ago
65a490c209
AP_InertialSensor: update for new notify API
12 years ago
5651bdbe3a
INS: integrate AP_Notify
12 years ago
effc829790
INS: relax accel offset check to 3.5 m/s/s
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One user, Dusty, has found that even with offsets of 3.1 m/s/s
successful alt hold and loiter are possible
12 years ago
20ed00dcc9
AP_InertialSensor: relax accel offset sanity check
12 years ago
59b6118a1d
AP_InertialSensor: fixed parameter markup
12 years ago
2ddeaa7f4d
AP_InertialSensor: show calibration offsets for success and failure
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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
42bca90676
INS: add calibrated check
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Checks is the scaling vector has been updated. Required for pre-arm
checks for ArduCopter
12 years ago
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
12 years ago
Andrew Tridgell
Andrew Tridgell
Randy Mackay
Michael Carpenter
Don Gagne