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Commit Graph

357 Commits (ffd3d1da1d4326a3277ddcb615cc07a8409e5cd6)

Author	SHA1	Message	Date
Andrew Tridgell	f6c45c3bcd	AP_InertialSensor: cope with INS_MAX_INSTANCES < 3	4 years ago
Peter Barker	02c9aa2ae2	AP_InertialSensor: remove unused define	4 years ago
Andrew Tridgell	d5c0522651	AP_InertialSensor: instantiate SIM_IMU_COUNT sensors in SITL	5 years ago
Andy Piper	d4ba821297	AP_InertialSensor: make the backend fast gyro rate configurable and independent from the accel rate ... allow fast sampling of gyros on MPU6000 and MPU6500	5 years ago
Andy Piper	05366e9aa9	AP_InertialSensor: delegate active harmonic calculation to the filter	5 years ago
Andy Piper	faf9bbbf3a	AP_InertialSensor: make the backend fast gyro rate configurable ... raise gyro rate default on F7 and H7 clean up gyro rate docs and output startup banner	5 years ago
Andy Piper	61bb42cc0c	AP_InertialSensor: allow up to four distinct notch center frequencies to be updated ... apply the LPF after the notch filters to reduced notch-induced noise	5 years ago
Andy Piper	8ac79da643	AP_InertialSensor: FFT gyro window would overflow on windows >= 256 ... 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
Andy Piper	d0a241597a	AP_InertialSensor: add support for double harmonic notches to more effectively target wider noise peaks	5 years ago
Peter Barker	efbf929bc0	AP_InertialSensor: rename APMrover2 to Rover	5 years ago
Andrew Tridgell	d772289b0d	AP_InertialSensor: added driver for ADIS16470	5 years ago
Andy Piper	0e9b2a26c5	AP_InertialSensor: SITL the raw sample rate is not the same as the sensor rate ... 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
Andy Piper	3d9776dd6d	AP_InertialSensor: expose statically filtered gyro values for FFT analysis and allow sampling to gyro window for FFT analysis. ... 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
Peter Barker	ab7ee46423	AP_InertialSensor: mark some parameters as Calibration parameters	5 years ago
Randy Mackay	b7f6f4a05e	AP_InertialSensor: reduce POS param range to 5m and add increment	5 years ago
Andrew Tridgell	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
Mark Whitehorn	00948c33d5	AP_InertialSensor: rename sensor_config_error to config_error	5 years ago
Andy Piper	a9a7fe3ea5	AP_InertialSensor: ensure harmonic notch gets appropriate defaults	5 years ago
Andy Piper	3261677e01	AP_InertialSensor: remove _ prefix from methods. use changed filter methods.	5 years ago
Andy Piper	50f7e50634	AP_InertialSensor: add harmonic notch filter to gyro filter chain ... 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
Andy Piper	dde6dec145	AP_InertialSensor: correct reboot documentation for batch logger and filters	5 years ago
Andrew Tridgell	15e15e0b9d	AP_InertialSensor: define GET_I2C_DEVICE()	6 years ago
Andrew Tridgell	1c92ecc89f	AP_InertialSensor: removed old method of specifying most IMUs ... and removed dangerous default values for rotations	6 years ago
Andrew Tridgell	c99923d500	AP_InertialSensor: require gyro orientations in LSM9DS probe ... this prevents a bug where they are missing in hwdef.dat	6 years ago
Andrew Tridgell	992016069a	AP_InertialSensor: fixed watchdog on AHRS trim gyro wait	6 years ago
Andrew Tridgell	e1ce735886	AP_InertialSensor: special check for CubeBlack to force INS_USE3=1 ... this will cope with users loading old parameter files	6 years ago
Andrew Tridgell	123800ccd2	AP_InertialSensor: default INS_USE3 to 1	6 years ago
Andrew Tridgell	8e5c0fa32b	AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES	6 years ago
Andrew Tridgell	3444e82ef9	AP_InertialSensor: added RC switch for killing IMUs	6 years ago
Andrew Tridgell	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
Andy Piper	36878e9b3c	AP_InertialSensor: Allow all filter frequencies to be 16bit.	6 years ago
Andy Piper	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
Andrew Tridgell	aef343bfd0	AP_InertialSensor: removed old mRoControlZeroF7 config	6 years ago
Andrew Tridgell	039e7366b0	AP_InertialSensor: support new sensor config setup	6 years ago
Andrew Tridgell	3823ba539c	AP_InertialSensor: rename to EXPECT_DELAY_MS()	6 years ago
Andrew Tridgell	02326ac52c	AP_InertialSensor: use EXPECT_DELAY() macro	6 years ago
Phillip Kocmoud	6665e4c0a7	AP_InertialSensor: probe IMUs for mRoControlZeroF7	6 years ago
Jaaaky	47c65314fb	AP_InertialSensor: fix accelcalsimple watchdog	6 years ago
Andrew Tridgell	034d476fa5	AP_InertialSensor: prevent watchdog in accelcal	6 years ago
Andrew Tridgell	9c48d001ac	AP_InertialSensor: skip gyro cal on watchdog reset	6 years ago
Andrew Tridgell	c988eb2fd9	AP_InertialSensor: don't set INS_ENABLE_MASK to found IMU mask	6 years ago
L Kurt Shaw	d08ab88dea	INS: AP_InertialSensor comments for new cubes ... Correct comments ICM20648 should have been ICM20948	6 years ago
Randy Mackay	5d8747c81d	AP_InetialSensor: fixup ENABLE_MASK parameter desc	6 years ago
Andrew Tridgell	4a334d0ed7	AP_IneertialSensor: fixed startup race in SITL	6 years ago
Andrew Tridgell	0a718ba330	AP_IneertialSensor: fixed orientations and gyro scale factors for new Invensense IMUs	6 years ago
Siddharth Purohit	8c2d3945de	AP_IneertialSensor: add support for custom accel scale ... adds support for 30g measurement on ICM20649	6 years ago
Siddharth Purohit	3a833d9a90	AP_InertialSensor: fix rotation for ICM20649	6 years ago
L Kurt Shaw	8d75e8c5bb	INS: AP_InertialSensor.cpp ... Fix typo in comments should be NFC	6 years ago
Andrew Tridgell	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
Siddharth Purohit	528c0b4d7c	AP_InertialSensor: add drivers for register bank based Invensense Sensors	6 years ago