Peter Barker
3708936c62
global: correct shebang lines to refernce python3
...
also remove the odd encoding line which is not required in Py3
2025-07-22 10:45:57 +10:00
cuav-chen2
a8563dfa8c
AP_InertialSensor: support CLKIN configure on IIM42652
2025-07-15 09:45:10 +10:00
Andrew Tridgell
53b2702342
AP_InertialSensor: fixed INS_generic under SITL
...
this will stop a regular segv on the autotest server:
[Wed Dec 29 14:29:08 2021] INS_generic[13156]: segfault at 211 ip 000055e6544bbda8 sp 00007ffee7339970 error 4 in INS_generic[55e65449e000+7f000]
2025-07-12 16:06:53 +10:00
Peter Barker
ab108d347a
AP_InertialSensor: remove remaining vrbrain FMU architectures and PX4_BOARD_TYPEs
2025-06-25 18:17:19 +10:00
Peter Barker
e2c23936f3
AP_InertialSensor: remove support for SP01 board
...
there's no automatic setting for this board, so it would have been selected by parameter only.
This was a development board pre-PCNC01 - it wasn't widely distributed.
If we want this back we can create a full-on board for it...
2025-06-24 10:38:58 +10:00
Christian Clauss
16410dd441
AP_InertialSensor: Add # flake8: noqa linter directive
2025-06-20 20:30:15 +10:00
Peter Barker
80b5eed1b6
AP_InertialSensor: remove PCNC1 board type
...
only used for one board, so inline everything required
2025-06-17 10:59:00 +10:00
Peter Barker
33aced8a4b
AP_InertialSensor: move VRBrain-v54 sensors to hwdef
2025-06-11 17:22:55 +10:00
Peter Barker
30dc0867c5
AP_InertialSensor: remove dead sensor detect code
...
these boards specify their internal devices so don't cross these paths
2025-06-10 16:28:17 +10:00
Andrew Tridgell
9b4045b05d
AP_InertialSensor: support 3 harmonic notch filters
...
some vehicles need 3, for example:
- one for an EFI RPM (or generator)
- one for ESCs
- one for a frame resonance
I've also left open the possibility of 4, enabled in hwdef.dat
2025-06-06 09:43:50 +10:00
Peter Barker
ec64c61dfe
AP_InertialSensor: rename AHRS get_roll etc accessors to include _rad
2025-06-05 17:28:41 +10:00
Peter Barker
eccc551bbe
AP_InertialSensor: replace ToRad with radians and ToDeg with degrees
2025-05-29 11:24:56 +10:00
Peter Barker
322f7a5952
AP_InertialSensor: document INS temperature calibration TCLR log message
2025-05-23 11:44:50 +10:00
Peter Barker
a35a5ccc6e
AP_InertialSensor: document the InertialSensor IREG (checked-register-did-change) message
2025-05-19 19:21:47 +10:00
Peter Barker
44d59504fb
AP_InertialSensor: document ISBH and ISBD log messages
2025-05-18 19:02:30 +10:00
Peter Barker
c3095d7601
AP_InertialSensor: remove unused rotation member
2025-05-13 13:12:46 +10:00
Peter Barker
d58c274780
AP_InertialSensor: rename HAL_EXTERNAL_AHRS_ENABLED to AP_EXTERNAL_AHRS_ENABLED
...
in preparation for making this an optional feature; a lot of people will want to go and put this in their hwdef files as soon as we do this!
2025-05-13 09:06:44 +09:00
muramura
fc3ade5437
AP_InertialSensor: Remove unnecessary processing
2025-04-21 10:59:23 +10:00
Your Name
aeb77564f0
Modify the measurement range of the sensor IIM42653
2025-04-21 10:35:08 +10:00
Peter Barker
3d7788d181
AP_InertialSensor: remove un-needed GCS_MAVLINK_Parameters::var_info instantiations
...
structure which required this has been removed
2025-04-07 10:58:41 +10:00
Tatsuya Yamaguchi
a1b2014142
AP_InertialSensor: Fix temperature conversion for SCHA63T
2025-04-06 09:55:00 +10:00
Andy Piper
b9c3140522
AP_InertialSensor: use SPI full duplex API for DMA optimisation
2025-04-02 19:25:21 +11:00
bugobliterator
e0c3234b1b
AP_InertialSensor: don't do gyro rate prearm check for external ahrs (DEVTYPE_SERIAL)
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2025-04-02 18:05:32 +11:00
bugobliterator
ee7fb8825a
AP_InertialSensor: prearm check to validate backend read rates against scheduler loop rate
2025-04-02 18:05:32 +11:00
Andrew Tridgell
e177ca0924
AP_InertialSensor: support SIM_IMU_ORIENT
2025-04-02 15:08:06 +11:00
Peter Barker
83b2a255c5
AP_InertialSensor: remove unused define SENSOR_RATE_DEBUG
test chibios / build (CubeOrange-ODID, 10, chibios) (push) Waiting to run
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2025-03-15 10:44:13 -05:00
Julio Cesar Matias
3b358d7854
AP_InertialSensor: Remove the variable _accel_max_abs_offsets its is not more used
2025-03-15 07:31:12 +11:00
Julio Cesar Matias
ba755f6909
AP_InertialSensor: Remove two unused defines
2025-03-10 15:21:34 +11:00
Peter Barker
f2442f6b3e
AP_InertialSensor: correct compilation of the Aero board
...
hwdef: make BMM150 internal
Need to choose force-external or not, assuming this one is on-board
2025-02-26 23:42:07 +11:00
Peter Barker
6338d10b5f
global: create and use HAL_PROGRAM_SIZE_LIMIT_KB
...
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base.
Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
2025-02-26 10:06:39 +11:00
Peter Barker
bc848d2bed
AP_InertialSensor: mark many functions as __INITFUNC__
...
... implying they can go into external flash
2025-02-19 18:01:48 +11:00
Peter Barker
cbdaf2be46
AP_InertialSensor: move AP_InertialSensor configuration into linux hwdef
2025-02-19 15:42:52 +11:00
Peter Barker
dddb4583a6
AP_InertialSensor: start tidying Linux GPIO
2025-02-19 15:42:52 +11:00
Andy Piper
29655d149c
AP_InertialSensor: remove changes to primary accel since it is always the same as the gyro
2025-01-29 18:47:51 +11:00
Andy Piper
a5d04eb291
AP_InertialSensor: only update the primary once. scale FIFO reads to 2x loop rate.
...
only increase FIFO buffer when compiled with fast rate
2025-01-29 18:47:51 +11:00
Andy Piper
da447fd378
AP_InertialSensor: remove rate config include
2025-01-29 18:47:51 +11:00
Andy Piper
51a61b99ea
AP_InertialSensor: remove dynamic fifo mask
2025-01-29 18:47:51 +11:00
Andy Piper
32632a06a8
AP_InertialSensor: have a single callback for primary switching
2025-01-29 18:47:51 +11:00
Andy Piper
45242de521
AP_InertialSensor: periodically notify of primary gyro and accels
2025-01-29 18:47:51 +11:00
Andy Piper
981826dca3
AP_InertialSensor: only use dynamic FIFO when using fast rate loop
2025-01-29 18:47:51 +11:00
Andy Piper
cc52868dda
AP_InertialSensor: adjust read rate of Invensense v3 depending on primary
...
configure dynamic fifo rates based on primary gyro instance
add set_primary_gyro() and set_primary_accel()
adjust FIFO buffer sizes
2025-01-29 18:47:51 +11:00
Andy Piper
bed0c2228c
AP_InertialSensor: keep a record of the priamry gyro and use it
...
add callbacks for when gyrp/accel primary changes
2025-01-29 18:47:51 +11:00
MattKear
4f39a842b2
AP_InertialSensor: Add config error for helis trying to use throttle notch
2025-01-21 11:22:36 +11:00
Siddharth Purohit
92241daef1
AP_InertialSensor: do not read FIFO faster than requested rate for ICM45686
2024-12-18 19:05:20 +11:00
Peter Barker
5becd59265
AP_InertialSensor: remove superfluous linefeed from panic strings
...
panic adds this within the HAL layer.
2024-12-14 10:06:13 +11:00
Andrew Tridgell
4d31a7320a
AP_InertialSensor: stop sensors converging if motors arm
...
if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying
also fix a 32 bit millis wrap
2024-12-09 07:40:48 +11:00
Andy Piper
88f6125a94
AP_InertialSensor: belt and braces checks
2024-12-04 07:45:05 +11:00
Andy Piper
4b0fa15278
AP_InertialSensor: address review comments
2024-12-04 07:45:05 +11:00
Andy Piper
398a70ec4b
AP_InertialSensor: avoid multiple allocations of rate loop buffer
...
add nullptr checks and comments to FastRateBuffer
2024-12-04 07:45:05 +11:00
Andy Piper and Andrew Tridgell
6db09c9fdd
AP_InertialSensor: keep a queue of gyro samples for use by the rate thread
...
decimate the gyro window locally
configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
allow backends to be updated from rate thread
output debug error if rate loop buffer overruns
add support for updating filter parameters independently of propagating samples
add rate loop config abstraction that allows code to be elided on non-copter builds
must be using harmonic notch to use rate thread
mediate fast rate loop buffer using mutex and binary semaphore
ensure gyro samples are used when the rate loop buffer isn't
Co-Authored-By: Andrew Tridgell <andrew@tridgell.net >
2024-12-04 07:45:05 +11:00
Peter Barker
cuav-chen2
Andrew Tridgell
Christian Clauss
muramura
Your Name
Tatsuya Yamaguchi
Andy Piper
bugobliterator
Julio Cesar Matias
MattKear