Tree: c79cbd71af

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Commit Graph

814 Commits (c79cbd71af7193252bc52e5a923d82092e82d930)

Author	SHA1	Message	Date
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
Andrew Tridgell	84c3e29891	AP_InertialSensor: use AP_HAL rotations for MPU6000	8 years ago
Andrew Tridgell	2f01dfe81c	AP_InertialSensor: fixed from review by Lucas	8 years ago
Andrew Tridgell	81b933d9d0	AP_InertialSensor: use int32_t summation for fast sampling ... very slightly faster	8 years ago
Andrew Tridgell	03b7bc9e65	AP_InertialSensor: use internal drivers for PHMINI ... this gets us fast sampling	8 years ago
Andrew Tridgell	af1c5fd6d3	AP_InertialSensor: always use FIFO on MPU6000 ... and enable fast sampling on ICM20608 if on SPI	8 years ago
Andrew Tridgell	fde80a9408	AP_InertialSensor: modify LSM303D settings to match PX4 driver ... this allows existing accel calibration to be used	8 years ago
Andrew Tridgell	a9a5e50bd1	AP_InertialSensor: removed timer callback for MPU6000 ... Thanks to Lucas for pointing out this is not needed	8 years ago
Andrew Tridgell	bd84e592f8	AP_InertialSensor: check for NULL device pointer in probe() ... handle missing devices	8 years ago
Andrew Tridgell	3d7d773883	AP_InertialSensor: added support for ICM20608 on Pixracer	8 years ago
Andrew Tridgell	2c1e9024f1	AP_InertialSensor: detect missing accels or gyros	8 years ago
Andrew Tridgell	106a91c64c	AP_InertialSensor: use init_gyro() on startup ... this saves the calibration parameters which should be done on calibration	8 years ago
Andrew Tridgell	408593465f	AP_InertialSensor: fixed rotation for mpu9250 on pixracer	8 years ago
Andrew Tridgell	790dd4769b	AP_InertialSensor: simplify rotations for MPU9250	8 years ago
Andrew Tridgell	aa4025bdf9	AP_InertialSensor: make INS sensor IDs match for PX4 ... in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2	8 years ago
Andrew Tridgell	9e7e1b2f01	AP_InertialSensor: fixed merge conflicts with patches from Lucas	8 years ago
Lucas De Marchi	104e29acf2	AP_InertialSensor: MPU6000: change accel scale to 16G ... Also change the ID of MPU6000 so previous calibration values are not considered valid.	8 years ago
Lucas De Marchi	dc09661b9e	AP_InertialSensor: MPU6000: save driver version ... When registering accel and gyro we use the upper 16bits of the id to store the driver version. When changing the driver behavior in non-compatible ways, changing this version will trigger a request for calibration.	8 years ago
Lucas De Marchi	0d3adef8b2	AP_InertialSensor: MPU6000: remove TODO leftover ... This will never be done as blindly changing speed is not the way to fix communication issues.	8 years ago
Andrew Tridgell	0a1616cc71	AP_InertialSensor: use correct device IDs on PX4 driver	8 years ago
Lucas De Marchi	469efb00f6	AP_InertialSensor: save id for gyro and accel instances ... This allows each sensor to be uniquely identified in the system by using either the index inside the backend or for those that use the Device interface, to use the bus type, location, and device id. We leave 16-bit for each sensor to be able to change its own identification in future, which allows them to be changed in an incompatible manner forcing a re-calibration.	8 years ago