67540dc5bb
AP_InertialSensor: fix example
4 years ago
c8a7ab1a75
AP_InertialSensor: fix example
4 years ago
bf999f701f
AP_InertialSensor: fixed ICM-20602 y offset bug
...
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.
The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
4 years ago
4cddf37984
AP_InertialSensor: log unexpected register changes
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when the register checking code finds an error we will log what
register changed and to what value
4 years ago
85ef6b7ac6
AP_InertialSensor: added optional logging of register changes
4 years ago
25dd08a1fd
AP_InertialSensor: added force_save_calibration()
4 years ago
3da156e358
AP_InertialSensor: prevent nullptr dereference in SITL
4 years ago
0535c4f592
AP_InertialSensor: default TMAX to 70
...
if user forgets to set this then better to just timeout rather than
calibrating over a small range
4 years ago
bdb364d461
AP_InertialSensor: save the accelerometer ID parameters
...
this is needed for factory accel cal
4 years ago
2843cfa42d
AP_InertialSensor: use mavlink statustext for cal info
4 years ago
b542f947f7
AP_InertialSensor: don't mark accels as calibrating during trim
...
we need the accels with offsets applied when doing accel trim
4 years ago
e908a996af
AP_InertialSensor: support SIM_ACC_TRIM
...
and cleanup vector maths
4 years ago
6c8a57c2d7
AP_InertialSensor: review fixes
4 years ago
3ff71c7814
AP_InertialSensor: changes from review feedback
4 years ago
b12a663f7a
AP_InertialSensor: apply accel scaling
4 years ago
73ddde3629
AP_InertialSensor: changes for new SITL IMU params
4 years ago
5e60fac37e
AP_InertialSensor: remove unused variable
4 years ago
285b53fe07
AP_InertialSensor: use vector polyfit
...
this reduces memory usage
4 years ago
ffe20f7958
AP_InertialSensor: use a fixed reference temperature of 35C
...
this allows us to timeout the calibration when the temperature stops
rising as the polynomial no longer depends on the maximum temperature
4 years ago
dc58b0b950
AP_InertialSensor: changes from review feedback
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thanks Sid!
4 years ago
c9a83c8127
AP_InertialSensor: added INS_TCAL_OPTIONS
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make persistent params optional, and allow save of accelcal
4 years ago
1ddc21c9bb
AP_InertialSensor: support saving tempcal params persistently
4 years ago
8caea96ab1
AP_InertialSensor: start auto-learning at boot
...
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
4 years ago
7cb7ad3636
AP_InertialSensor: fixed build error
4 years ago
2e9f61fe49
AP_InertialSensor: fixed IMU index display in msgs
...
start at 1 for users
4 years ago
d5b511f4a0
AP_InertialSensor: fixed start timer for temperature in SITL
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when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
4 years ago
30e55d8dfc
AP_InertialSensor: cope with user changing TMAX while calibrating
4 years ago
e2e97c67ce
AP_InertialSensor: catch user attempt to change TMAX during cal
4 years ago
3fb720354d
AP_InertialSensor: added notify events for temperature calibration
4 years ago
cc3579ea5d
AP_InertialSensor: change TCAL sampling to be even in temperature
4 years ago
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
4 years ago
6f6f89e5aa
AP_InertialSensor: enable temperature sensor on LSM9DS0
...
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
4 years ago
4bdf506d10
AP_InertialSensor: apply 1e-5 scale factor
...
this keeps the params in a reasonable range for parameter editors
4 years ago
0f6f6bac6b
AP_InertialSensor: expose TCal class for use in SITL
4 years ago
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
...
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
4 years ago
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
...
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
Pierre Kancir
Andrew Tridgell
Peter Barker
murata
Andy Piper
Michael du Breuil
mhefny