8be9e99fad
AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages
10 years ago
f489f6b696
AP_InertialSensor: use 64-bit timestamps in dataflash logs
10 years ago
3aa46e3213
AP_InertialSensor: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
10 years ago
aaa35bd1ec
AP_InertialSensor: using atan2f() gives more accurate euler corrections
...
thanks to Jon and Paul!
10 years ago
9e723ef907
AP_InertialSensor: added calibrate_trim() function
...
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
3f8b832075
InertialSensor: fix example sketch
10 years ago
1f14eec4ea
InertialSensor: accel_calibrated_all_ok replaces calibrated
...
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
afc9812d0b
AP_InertialSensor: update VibTest after moving messages info DataFlash
10 years ago
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
10 years ago
f5140e25b0
AP_InertialSensor: updated VibTest for latest PX4 interfaces
10 years ago
089e63f987
AP_InertialSensor: fixed PSTR handling
...
must use PSTR on code compiled for AVR
10 years ago
31693e332e
AP_InertialSensor: use non-PSTR printf
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this is not built on AVR
10 years ago
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
10 years ago
0e076d6dc8
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
10 years ago
9e98c68099
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
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
ef527d9daa
AP_InertialSensor: fix for HAL_SITL rename
10 years ago
6773c0b232
AP_InertialSensor: default primary accel and gyro
10 years ago
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
10 years ago
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
10 years ago
007b01533d
AP_InertialSensor: switched to 16g accel range for MPU9250
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this matches the Pixhawk, and makes us less prone to vibration. We
have seen clipping at 8g
10 years ago
a4b8575432
InertialSensor: fix compile warnings re float constants
10 years ago
13ee34c58a
AP_InertialSensor: MPU9150 fix compiler warnings
10 years ago
b292873304
AP_InertialSensor: fix starvation in L3G4200D
...
The main thread would always be blocked on the semaphore to read the
data from accelerometer and gyroscope. Especially if we have a slow
update of these values in _accumulate() due to the I2C transfer function
taking too much time: the timer thread would never give up the CPU,
causing starvation on the main thread.
This fixes the issue by reducing the critical region using a flip-buffer
so _accumulate() can work on its own copy of the data. Now that the
critical region is smaller, also avoid the semaphore and use a spinlock
instead.
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
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
10 years ago
4147825b87
AP_InertialSensor: fixed gyro calibration bug
...
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
23272e4013
AP_InertialSensor: added get_temperature() interface
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this will allow logging of individual temperature sensors
10 years ago
103bb2a08d
AP_InertialSensor: Fix orientation MPU6000 PXF
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
520c7c1306
AP_InertialSensor: always allow for AK8963 on MPU9250
10 years ago
60b8736cf1
AP_InertialSensor: use right AK8963 compass defines
10 years ago
808c33d0a7
AP_InertialSensor: support both MPU9250 and MPU9255
...
seems to be just different WHOAMI register
10 years ago
07fd31c724
AP_InertialSensor: change copter filters to 20Hz
...
with the backend filters disabled 20Hz is closer to the old default of
30Hz
10 years ago
a1d43e39e0
AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz()
10 years ago
3d7d46b9b0
AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
...
this allows filtering to be set separately on accels and gyros where possible
10 years ago
f3314791f2
AP_InertialSensor: removed INS_CALSENSFRAME
...
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
...
this allows for users to switch between development trees and previous
stable versions while retaining their accel calibration values.
10 years ago
5d0eb49114
AP_InertialSensor: calculate queue depth based on requested sample rate
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this auto-scales the queue depth for plane, rover and copter
10 years ago
ea49d1cd39
AP_InertialSensor: removed unused variable
10 years ago
e6a4b9f68c
AP_InertialSensor: check accel health during accel cal
10 years ago
Peter Barker
Peter Barker
Lucas De Marchi
Andrew Tridgell
Jonathan Challinger
Randy Mackay
Tom Pittenger
mirkix
ahcorde