Tree: 90b2458a27

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Commit Graph

784 Commits (90b2458a273b8650639f11295f2ec59e517b3ffe)

Author	SHA1	Message	Date
murata	d56bad781f	AP_InertialSensor: change if statements to switch statement ... No functional change	8 years ago
murata	398b7b83dd	AP_InertialSensor: minor formatting fixes ... No functional change	8 years ago
Lucas De Marchi	9569ed94a9	AP_InertialSensor: Invensense: use capital letters for define	8 years ago
Andrew Tridgell	a30745903a	AP_InertialSensor: use ACC2_BIAS	8 years ago
priseborough	60ebe97e10	AP_InertialSensor: remove unused EKF1 include	8 years ago
Andrew Tridgell	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
Pierre Kancir	de05e6ba29	InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part	8 years ago
Pierre Kancir	13c16e187f	InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part	8 years ago
Randy Mackay	dfd58cc57b	AP_InertialSensor: fix build warning for MPU9250	8 years ago
Randy Mackay	699279ed1f	AP_InertialSensor: fix build warning for MPU6000	8 years ago
Andrew Tridgell	f9845c93b1	AP_InertialSensor: keep transfers nicely setup for DMA on stm32 ... this avoids using stack based bounce buffers which may not support DMA on stm32	8 years ago
Andrew Tridgell	771cedca3d	AP_InertialSensor: reduced number of SPI transfers ... use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO error when possible	8 years ago
Andrew Tridgell	27605b0258	AP_InertialSensor: run invensese reg checking at low speed ... config register read/write should be at low bus speed. also change to check every 20 calls to reduce checking cost	8 years ago
Andrew Tridgell	0f984290c3	AP_InertialSensor: enable fast sampling by default on some boards	8 years ago
Andrew Tridgell	f3a778f980	AP_InertialSensor: fixed freeing of fifo buffer	8 years ago
Andrew Tridgell	6f28c61c8d	AP_InertialSensor: changed SIZE to LEN ... thanks to Lucas for suggestion	8 years ago
hiro2233	cb7f46d653	AP_InertialSensor: fixed handling of user_ctrl register ... with aux bus implementations	8 years ago
Andrew Tridgell	9b4c588c09	AP_InertialSensor: adapt drivers for SPI-DMA capable systems ... no longer need accumulate() transfers with SPI enabled DMA on stm32	8 years ago
Andrew Tridgell	28daddaaf2	AP_InertialSensor: don't use accumulate approach on Linux or I2C	8 years ago
Andrew Tridgell	d9c8db7024	AP_InertialSensor: implement a new strategy for fast sampling ... this moves to using a 1p filter on the high rate data, followed by averaging down to 1kHz then a 2p filter to apply configured cutoff frequency. It also fixes the FIFO reset to not cause data corruption. We need to disable all FIFO channels before doing the reset, and wait for the FIFO to stop in the sensor. Finally it moves sampling of the MPU6000 and MPU9250 into the main thread. That significantly improves scheduling performance as we no longer get long FIFO SPI transfers happening during other tasks. All transfers happen at the start of the fast loop. That makes timing much more predictable. Thanks to Leonard and Paul for help with this design!	8 years ago
Lucas De Marchi	87c6d5da13	AP_InertialSensor: replace panic() with return ... When blocking forever there's no reason to call panic later since it will never going to be reached. This reduces binary size in a few bytes since the message isn't required anymore.	8 years ago
Andrew Tridgell	6129b1abb6	AP_InertialSensor: wait forever for semaphore on startup ... some boards take a silly amount of time to get semaphore on startup	8 years ago
Andrew Tridgell	216cf53922	AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 ... this prevents temporary corruption of INS data on FIFO overflow	8 years ago
Andrew Tridgell	18d4286166	AP_InertialSensor: fixed pixfalcon 9250 detection	8 years ago
Andrew Tridgell	cb1a5d4c74	AP_InertialSensor: take semaphore for update of accumulators ... this fixes a race in update of delta angle and delta velocity between backend and frontend	8 years ago
Andrew Tridgell	f3f1f6b0b6	AP_InertialSensor: fixed gyro orientation on l3gd20H on pixhawk	8 years ago
Andrew Tridgell	6af00027ab	AP_InertialSensor: removed unused variables ... thanks to Francisco for noticing	8 years ago
Francisco Ferreira	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
Andrew Tridgell	624178f3be	AP_InertialSensor: added INS_FAST_SAMPLE parameter ... 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
Andrew Tridgell	c0303ffe8a	AP_InertialSensor: temporarily disable fast sampling ... a problem has been found with the filtering with fast sampling on ICM-20608 and MPU9250. Disable until it is solved.	8 years ago
Andrew Tridgell	c794ad9ee8	AP_InertialSensor: use smaller FIFO buffers ... this allows for reading multiple chunks from the fifo per callback	8 years ago
Andrew Tridgell	8d19808152	AP_InertialSensor: fixed missing checked register goto ... thanks to Francisco for spotting	8 years ago
Andrew Tridgell	49856c37f2	AP_InertialSensor: reduce checked register count ... thanks to Francisco for spotting this	8 years ago
Andrew Tridgell	4be8f05ad4	AP_InertialSensor: added register checking for LSM9DS0	8 years ago
Andrew Tridgell	77a83c091a	AP_InertialSensor: added register checking for MPU6000/ICM20608	8 years ago
Andrew Tridgell	95a849f472	AP_InertialSensor: added register checking for MPU9250	8 years ago
Andrew Tridgell	3289e90134	AP_InertialSensor: added error count increments in drivers	8 years ago
Andrew Tridgell	4ebf3309f7	AP_InertialSensor: auto-handle invensense sensor changes ... some boards swap out MPU6000 for MPU9250 or ICM20608	8 years ago
Andrew Tridgell	af0ec41652	AP_InertialSensor: fixed accel clip detection with fast sampling ... we need to check on every sample at the full rate	8 years ago
Andrew Tridgell	70c27a85de	AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz	8 years ago
Andrew Tridgell	1ea4c6938c	AP_InertialSensor: allow auxiliary bus with fast sampling	8 years ago
Andrew Tridgell	8da42b7a8b	AP_InertialSensor: fixed temperature for fast sampling case	8 years ago
Andrew Tridgell	cb70bae167	AP_InertialSensor: use in-tree drivers for PH2SLIM	8 years ago
Andrew Tridgell	e27a76e460	AP_InertialSensor: fixed auxiliary bus with FIFO enabled ... make sure fifo reset doesn't check I2C master enable	8 years ago
Andrew Tridgell	46785e8ecf	AP_InertialSensor: improved method for FIFO integrity checking ... check temperature every 255 samples against FIFO data	8 years ago
Andrew Tridgell	8a3f6a8902	AP_InertialSensor: use FIFO and implement fast sampling for MPU9250	8 years ago
Andrew Tridgell	e25a391a8f	AP_InertialSensor: fixed typo	8 years ago
Andrew Tridgell	d2f6a514b9	AP_InertialSensor: catch FIFO alignment errors using temperature reading ... Two cases of what seems to be FIFO alignment errors have been seen on a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per transfer we can catch these by looking for sudden temperature changes caused by bad data in the temperature registers.	8 years ago
Andrew Tridgell	d248b33104	AP_InertialSensor: simplify config of MPU6000 ... use zero sample rate divider on both MPU6000 and ICM20608	8 years ago
Andrew Tridgell	7137d5c6f2	AP_InertialSensor: switch pixracer to always use in-tree drivers	8 years ago