52f59fb573
AP_InertialSensor: more accurately compute INS noise taking throttle into account and adding frequency noise noisily
...
make SITL fast-sampling correct
5 years ago
e52a3b9978
AP_InertialSensor: default fast sampling on
...
if we have a first IMU capable of fast sampling then we want it
enabled by default
5 years ago
143a071788
AP_InertialSensor: add rpm-based motor noise to gyros and accels
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Remove sample time error in backend.
5 years ago
7e35622015
AP_InertialSensor: correct loop rate on BMI055, clean up setting of loop rate on BMI055 and BMI088
5 years ago
763089addb
AP_InertialSensor: slight improvement to LOG_BAT_OPT docs.
5 years ago
9dc618ddd4
AP_InertialSensor: added gyro_harmonic_notch_enabled()
5 years ago
77d21f9f5d
AP_InertialSensor: return HarmonicNotchDynamicMode
5 years ago
eb582ac0cc
AP_InertialSensor: avoid SITL build on non-SITL
5 years ago
00948c33d5
AP_InertialSensor: rename sensor_config_error to config_error
5 years ago
236ce28339
AP_InertialSensor: updated for heater changes
5 years ago
6381183aa3
AP_InertialSensor: expose harmonic notch tracking mode
5 years ago
d6e17b0c2b
AP_InertialSensor: publish an IMU temperature
...
makes testing of mavlink extension easier
5 years ago
850892c3d9
HAL_ChibiOS: fixes from LGTM errors
5 years ago
8e385d7453
AP_InertialSensor: correct formatting
5 years ago
5b7f9f6bea
AP_InertialSensor: while sensors are converging update the filters sample rates. if gyro filtering produces invalid output, keep the previous value
5 years ago
a9a7fe3ea5
AP_InertialSensor: ensure harmonic notch gets appropriate defaults
5 years ago
3261677e01
AP_InertialSensor: remove _ prefix from methods. use changed filter methods.
5 years ago
50f7e50634
AP_InertialSensor: add harmonic notch filter to gyro filter chain
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Allow dynamic updates to the calculated frequency. Convert bandwidth and frequency to floats.
backend variables do not need to be indexed per-backed
5 years ago
dde6dec145
AP_InertialSensor: correct reboot documentation for batch logger and filters
5 years ago
15e15e0b9d
AP_InertialSensor: define GET_I2C_DEVICE()
6 years ago
1c92ecc89f
AP_InertialSensor: removed old method of specifying most IMUs
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and removed dangerous default values for rotations
6 years ago
c99923d500
AP_InertialSensor: require gyro orientations in LSM9DS probe
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this prevents a bug where they are missing in hwdef.dat
6 years ago
992016069a
AP_InertialSensor: fixed watchdog on AHRS trim gyro wait
6 years ago
e1ce735886
AP_InertialSensor: special check for CubeBlack to force INS_USE3=1
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this will cope with users loading old parameter files
6 years ago
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
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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
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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
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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
Andy Piper
Andrew Tridgell
Mark Whitehorn
Randy Mackay
Phillip Kocmoud
Jaaaky
Peter Barker