9dfbdb1e69
AP_InertialSensor: run the MPU6000 at 1kHz on fast CPUs
...
use a software filter and 1kHz sampling for better filtering if we
have a fast enough CPU to do it
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
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
3ce7667e5a
AP_InertialSensor: tidy up MPU6000 driver
10 years ago
d48beb0c0f
AP_InertialSensor: converted PX4 driver to new API
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
a09f7b9198
AP_InertialSensor_MPU6k: init members to reduce compiler warnings
11 years ago
abb53eb9a2
AP_InertialSensor: simplify using HAL board subtypes
11 years ago
3ed4f82cb0
AP_InertialSensor: fixed DRDY include for Linux
11 years ago
06b6d7aaf0
AP_InertialSensor: fixeup DRDY pin for different boards
11 years ago
3379ddd51f
AP_InertialSensor_MPU6000: Add _register_write_check method.
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This private method allows to check whether the value written and
the posterior value readed are the same.
Should be used only for debuging purposes, for release versions use
_register_write instead.
11 years ago
ad3a3f9366
AP_InertialSensor_MPU6000: Fix the CS.
11 years ago
d9cb29ea8b
AP_InertialSensor_MPU6000: Correct DRDY pin.
11 years ago
ece01da10e
AP_InertialSensor: fixed _dump_registers() for MPU6000
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need to take the semaphore to prevent bus errors
11 years ago
b1c5f23bbd
AP_InertialSensor: make get_delta_time() const
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allows use from AP_NavEKF
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
80def01fbe
AP_InertialSensor: fixed semaphore error on startup for MPU6000
11 years ago
f5299e2e11
AP_InertialSensor: added healthy check for PX4 and HIL
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used to detect bad accels
11 years ago
9ecd889e9d
AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed
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this uses bad data or bad INT_STATUS values from the MPU6000 to detect
the sensor running too fast and lower bus speed
11 years ago
b98bcbf715
AP_InertialSensor: automatically lower bus speed on mpu6k bad reads
11 years ago
bdc40cc7df
AP_InertialSensor: try to lower SPI bus speed on errors
11 years ago
9833900f91
AP_InertialSensor: run MPU6000 sensor register reads at 8MHz
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run other register IO at 500kHz
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
dda68bddcb
AP_InertialSensor: updates for AP_HAL::MemberProc
12 years ago
03036c632d
AP_InertialSensor: use new scheduler API
12 years ago
f7ba0438ef
InertialSensor: remove DMP
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this saves 3K of flash
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
1ec5cbed81
AP_InertialSensor: removed SMACCM support
12 years ago
770b7b5901
AP_InertialSensor: prevent a lockup in MPU6000 driver
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thanks to the VRBrain port for noticing this bug.
Failing to get the semaphore is an expected error with the MPU6000, as
we read data both from timer context and mainline code. That means
semaphore conflicts are inevitable. We shouldn't consider them an
error, and shouldn't panic when some arbitrary number of them have
happened since boot.
Instead the wait_for_sample() code checks that we receive new data at
least every 50ms. That is a much safer test.
12 years ago
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
12 years ago
af13f6795c
INS: switch to global definition of GRAVITY_MSS
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saves 4 bytes of RAM
12 years ago
318a831b57
INS: set default filter to 20hz for APM2.x and PX4
12 years ago
a63275d284
AP_InertialSensor: expand register range in MPU6000 _dump_registers()
12 years ago
7b1245937c
AP_InertialSensor: always sample at 200Hz in MPU6000
...
this changes the sampling to 200Hz regardless of requested rate, and
it is downsampled inside num_samples_available() using a shift. This
gives better noise resistance in ArduPlane.
This patch also makes it possible to update the filter frequency while
running, which is very useful for bench testing with a vibration
source
12 years ago
bad81a5113
AP_InertialSensor_MPU6k: remove unnecessary check of sign when receiving fifo packet from dmp
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
d7996acdf7
AP_InertialSensor: added set_board_orientation() method
12 years ago
6142eac4b4
AP_InertialSensor: simplify get_delta_time() API
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use a single float return rather than two APIs.
This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
12 years ago
910e09fc96
AP_InertialSensor_MPU6000: fix sync/async semaphore usage with new scheduler
12 years ago
8e38ef6567
MPU6000: Flip Y and Z axes for SMACCM_HAL.
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- The accelerometer is upside-down on the PX4FMU vs the APM2.
12 years ago
1309b7332a
MPU6000: Use signed addition when accumulating readings.
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- Fixes very erratic accel readings on the PX4 board.
12 years ago
f48790a56e
AP_InertialSensor: poll for new data in num_samples_available()
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this lowers the latency for new data
12 years ago
4ab1cddd15
AP_InertialSensor: ensure we always have the SPI semaphore for MPU6k
12 years ago
b39166b71a
MPU6000: fixed minor timing bug
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if we miss a sample due to SPI contention we shouldn't update last
sample time
12 years ago
d84ba8ef59
Use HAL suspend/resume timer procs rather than atomic.
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- Preparation for removing begin/end atomic.
12 years ago
d808c19c10
AP_InertialSensor_MPU6000: uses new semaphores
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* some refactoring to fix differences between timerprocess
and non-timerprocess usage
12 years ago
acf05a29ee
AP_InertialSensor_MPU6000: Poll status register if there is no data ready pin.
12 years ago
212728be34
InertialSensor: ensure MPU6000 is out of sleep mode before configuring
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the MPU6000 starts in sleep mode, and can take a while to wakeup
12 years ago
Andrew Tridgell
Randy Mackay
Víctor Mayoral Vilches
James Bielman
Pat Hickey