123800ccd2
AP_InertialSensor: default INS_USE3 to 1
6 years ago
6a154c4e4c
AP_InertialSensor: resolve gcs::send_text compiler warning
6 years ago
8e5c0fa32b
AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES
6 years ago
09d3392aee
AP_InertialSensor: zero accumulators on time step
...
this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
6 years ago
3444e82ef9
AP_InertialSensor: added RC switch for killing IMUs
6 years ago
053f0cb689
AP_InertialSensor: try much harder to get all IMU samples
...
this we ensures we get new data for all active IMUs on each loop,
rather than sometimes returning with some IMUs not having data.
This matters as not having a sample on an IMU for a single loop can
cause an EKF IMU failover, which will degrade the learned bias
variances
The issue is usually only seen under high load, such as requesting a
loop rate beyond what the hardware is capable of
6 years ago
31ea3466af
AP_InertialSensor: Post-filter logging takes precedence over sensor-rate logging.
6 years ago
36878e9b3c
AP_InertialSensor: Allow all filter frequencies to be 16bit.
6 years ago
fff81a2163
AP_InertialSensor: Make sure the LPF output is used by the notch input.
6 years ago
18d403c3ac
AP_InertialSensor: Rework notch filter allocation and sampling
...
https://github.com/ArduPilot/ardupilot/issues/11346
Allocate a notch filter per-IMU.
Update the notch filters in the backend at the sensor sample rate.
Allow raw logging of post-filtered gyro and accel values.
6 years ago
aef343bfd0
AP_InertialSensor: removed old mRoControlZeroF7 config
6 years ago
039e7366b0
AP_InertialSensor: support new sensor config setup
6 years ago
3823ba539c
AP_InertialSensor: rename to EXPECT_DELAY_MS()
6 years ago
02326ac52c
AP_InertialSensor: use EXPECT_DELAY() macro
6 years ago
4e769730c9
AP_InertialSensor: removed unusued AP_Common/Semaphore.h
6 years ago
6665e4c0a7
AP_InertialSensor: probe IMUs for mRoControlZeroF7
6 years ago
893b49d145
AP_InertialSensor: disable register checking in invensensev2 driver
...
register checking doesn't work for the banked registers used in the
invensensev2 register layout. It ends up setting the wrong register
value in some cases, which can either cause the sensor to stop working
or in the worst case give bad data
6 years ago
47c65314fb
AP_InertialSensor: fix accelcalsimple watchdog
6 years ago
034d476fa5
AP_InertialSensor: prevent watchdog in accelcal
6 years ago
9c48d001ac
AP_InertialSensor: skip gyro cal on watchdog reset
6 years ago
c988eb2fd9
AP_InertialSensor: don't set INS_ENABLE_MASK to found IMU mask
6 years ago
c7ed4bfbcc
AP_InertialSensor: allow testing of IMU failure
6 years ago
9fa742e1be
AP_InertialSensor: fix compiler warning in BMI088 driver
6 years ago
e0fc73776c
AP_InertialSensor: return floats from raw-sample-rate getters
...
The underlying type changed at some stage but the getters did not
6 years ago
fa63243eb0
AP_InertialSensor: added BMI088 accel config retry
6 years ago
ef860db558
AP_InertialSensor: add floating point constant designators
6 years ago
c7a9e8bf93
AP_InertialSensor: Fix implicit include of AP_Logger
6 years ago
d08ab88dea
INS: AP_InertialSensor comments for new cubes
...
Correct comments ICM20648 should have been ICM20948
6 years ago
3eeaa2c8df
AP_InertialSensor: rename dataflash to logger
6 years ago
494a3f86ad
AP_IntertialSensor: support ICM20601 IMU
6 years ago
5d8747c81d
AP_InetialSensor: fixup ENABLE_MASK parameter desc
6 years ago
4a334d0ed7
AP_IneertialSensor: fixed startup race in SITL
6 years ago
0a718ba330
AP_IneertialSensor: fixed orientations and gyro scale factors for new Invensense IMUs
6 years ago
8c2d3945de
AP_IneertialSensor: add support for custom accel scale
...
adds support for 30g measurement on ICM20649
6 years ago
3a833d9a90
AP_InertialSensor: fix rotation for ICM20649
6 years ago
880a55c6a2
AP_InertialSensor: fixes for BMI088 on SPI
...
The sensor has an unusual SPI interface, with a pad byte on read, and
retries needed on write
6 years ago
8d75e8c5bb
INS: AP_InertialSensor.cpp
...
Fix typo in comments should be NFC
6 years ago
81cd103073
AP_InertialSensor: probe for new v2 invensense IMUs
...
also suppress LSM9DS0 whoami warnings, as these will now be common
with new IMUs
and make 20602 show up as a new devtype so we can distinguish it
6 years ago
dff3ea416c
AP_InertialSensor: allow for LSM9DS0 to be used on I2C
6 years ago
086b4c1cfd
AP_InertialSensor: use default value for temperature scale and offset
6 years ago
b76ec8cc11
AP_InertialSensor: fix slave register structure for Invensensev2
6 years ago
528c0b4d7c
AP_InertialSensor: add drivers for register bank based Invensense Sensors
6 years ago
0cfcd0986e
AP_InertialSensor: look for icm20602 for Pixhawk 2 series flight boards
6 years ago
103af72859
AP_InertialSensor: remove more px4 remnants
6 years ago
2b285089e9
AP_InertialSensor: widen allowable temp gap on invensense IMUs
...
some sensors have more temperature noise
6 years ago
07e2167996
AP_InertialSensor: setup for fmuv6
6 years ago
9347e6d36f
AP_InertialSensor: unify singleton naming to _singleton and get_singleton()
6 years ago
6048c10a7c
AP_InertialSensor: added driver for BMI088
...
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
6 years ago
9520f5f768
AP_InertialSensor: removed F4Light
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
Andrew Tridgell
Randy Mackay
Andy Piper
Phillip Kocmoud
Jaaaky
Peter Barker
Michael du Breuil
L Kurt Shaw
Tom Pittenger
na
Siddharth Purohit