239b09fb34
AP_InertialSensor: add simulator for ICM40609
4 years ago
957842f7eb
AP_InertialSensor: added support for v3 Invensense sensors
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starting with ICM-40609, ICM-42688 and ICM-42605
4 years ago
b74e5c0e2f
AP_InertialSensor: added ExternalAHRS backend
4 years ago
4f176c25de
AP_InertialSensor: relax IMU wait time for low loop rates
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allow for waiting for all IMUs for up to 1/3 of the loop time
4 years ago
219dc2e7da
AP_InertialSensor: Set the gravitational acceleration value to the defined value
4 years ago
3db6203fb6
AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention
4 years ago
72acc8bfc8
AP_InertialSensor: use primary gyro (not accel) for get_delta_angle_dt
4 years ago
2437cf8a24
AP_Logger: use instance number for IMU logging
4 years ago
f6c45c3bcd
AP_InertialSensor: cope with INS_MAX_INSTANCES < 3
4 years ago
e8f21d3458
AP_InertialSensor: fixed rpm indexing for vtol motors
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quadplane vtol motors start at 1
4 years ago
c86dcf91d6
AP_InertialSensor: Run vibration monitoring on all instances
4 years ago
02c9aa2ae2
AP_InertialSensor: remove unused define
4 years ago
02daa4c3ec
AP_InertialSensor: update L3G4200D driver
4 years ago
cfc59497f6
AP_InertialSensor: trigger internal error on persistent IMU reset
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this will give users a warning when they are getting the Invensense
IMU FIFO reset issue
5 years ago
d5c0522651
AP_InertialSensor: instantiate SIM_IMU_COUNT sensors in SITL
5 years ago
4cdb4b74f3
AP_InertialSensor: add support for checked register in Invensensev2 Drvr
5 years ago
e53a43461b
AP_InertialSensor: remove ICM gyro pre-filter
5 years ago
43c16cd417
AP_InertialSensor: ensure that we use environment Python interpreter
5 years ago
d4ba821297
AP_InertialSensor: make the backend fast gyro rate configurable and independent from the accel rate
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allow fast sampling of gyros on MPU6000 and MPU6500
5 years ago
05366e9aa9
AP_InertialSensor: delegate active harmonic calculation to the filter
5 years ago
faf9bbbf3a
AP_InertialSensor: make the backend fast gyro rate configurable
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raise gyro rate default on F7 and H7
clean up gyro rate docs and output startup banner
5 years ago
61bb42cc0c
AP_InertialSensor: allow up to four distinct notch center frequencies to be updated
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apply the LPF after the notch filters to reduced notch-induced noise
5 years ago
cdcdd5ce27
AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1
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Rework after review:
- Kept old IMU and barometer definition of crazyflie 2.0 in hwdef
- Added comment regarding soft-reset command
- Added defaults.parm for crazyflie
5 years ago
0d96c7f7a5
AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1
5 years ago
cab3630009
AP_InertialSensor: switched to supplying timestamps for SITL
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this allows the time step to change on each loop as we no longer use
the average sensor rate when calculating deltas
5 years ago
8ac79da643
AP_InertialSensor: FFT gyro window would overflow on windows >= 256
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convert FFT buffers to ObjectBuffer<float> for lock-free access
push gyro samples directly into the FFT ring buffer from the gyro thread
5 years ago
d0a241597a
AP_InertialSensor: add support for double harmonic notches to more effectively target wider noise peaks
5 years ago
5c6749ee54
AP_InertialSensor: use wait_pin() to wait for DRDY pin if available
5 years ago
efbf929bc0
AP_InertialSensor: rename APMrover2 to Rover
5 years ago
d772289b0d
AP_InertialSensor: added driver for ADIS16470
5 years ago
d8b33bcac9
AP_InertialSensor: suppress expected errors from invensense IMUs
5 years ago
507bd9eea9
AP_InertialSensor: add in user-specified background noise when there is no rpm noise
5 years ago
41b41c05f3
AP_InertialSensor: scale SITL motor noise by SIM_VIB_MOT_MULT
5 years ago
0e9b2a26c5
AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate
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use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
5 years ago
3d9776dd6d
AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis.
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FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
5 years ago
ab7ee46423
AP_InertialSensor: mark some parameters as Calibration parameters
5 years ago
b7f6f4a05e
AP_InertialSensor: reduce POS param range to 5m and add increment
5 years ago
58708c483f
AP_InertialSensor: make all semaphores recursive
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the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
5 years ago
b89c241329
AP_InertialSensor: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER
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this makes for cleaner and smaller code as the failure case is not
needed
5 years ago
52f59fb573
AP_InertialSensor: more accurately compute INS noise taking throttle into account and adding frequency noise noisily
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make SITL fast-sampling correct
5 years ago
e52a3b9978
AP_InertialSensor: default fast sampling on
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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
Peter Barker
Andrew Tridgell
murata
Andy Piper
Michael du Breuil
mhefny
bugobliterator
duccan
Randy Mackay
Mark Whitehorn