Konstantin Sharlaimov (DigitalEntity)
c74905cbfd
Debug vibration
2018-06-15 22:30:41 +02:00
Alberto García Hierro
78e62d36a8
Move check for valid GPS heading to a function
...
Allows calling it from both the IMU and the wind estimator
2018-05-27 21:11:19 +01:00
LinJieqiang
41013ad389
Use GPS and DCM to estimate the airspeed for fixwing.
2018-05-27 21:11:19 +01:00
Konstantin Sharlaimov (DigitalEntity)
2d1aeef3bf
Add support for Aitbot boards: ASGARD32F4, FIREWORKSV2, OMNIBUSF7NXT
2018-04-17 15:15:07 +10:00
Konstantin Sharlaimov
e174e5a48d
Initial cut on full quaternion IMU conversion ( #2894 )
...
* Initial cut on full quaternion/vector IMU conversion
* More accurate quaternion integration
* Refactor vector struct per @ledvinap suggection
* Implement rotation matrix from axis/angle; Refactor mag declination to have orientation correspond to RPY angles
* Use magnetic North vector as a reference
2018-03-15 00:19:53 +10:00
Alberto García Hierro
7a1491e158
Prepend USE_ prefix to CPP directives for enabling features
...
Prepended to: 'ACC', 'GYRO', 'BARO', 'MAG', 'LED_STRIP',
'SPEKTRUM_BIND', 'SERIAL_RX', 'BLACKBOX', 'GPS', 'GPS_PROTO_UBLOX',
'TELEMETRY', 'TELEMETRY_LTM', 'TELEMETRY_FRSKY', 'CMS',
'GPS_PROTO_NMEA', 'GPS_PROTO_I2C_NAV', 'GPS_PROTO_NAZA',
'GPS_PROTO_UBLOX_NEO7PLUS', 'GPS_PROTO_MTK', 'TELEMETRY_HOTT',
'TELEMETRY_IBUS', 'TELEMETRY_MAVLINK', 'TELEMETRY_SMARTPORT',
'TELEMETRY_CRSF', 'PWM_DRIVER_PCA9685', 'PITOT', 'OSD',
2017-12-04 13:01:24 +00:00
Konstantin Sharlaimov (DigitalEntity)
f81d5b2f4d
Fix integer division in accelerometer scaling to 1G; Optimize accumulated acceleration calculation
2017-11-29 12:25:29 +10:00
Martin Budden
5661794c31
Moved gyro accumulation code out of IMU into gyro sensor
2017-11-28 14:00:22 +00:00
Martin Budden
76efc482d3
Moved acc accumulation code out of IMU into acc sensor
2017-11-28 11:52:05 +00:00
Martin Budden
da4dfe1f1c
Made scaling of gyro and acc in updates more consistent
2017-11-28 09:13:05 +00:00
Martin Budden
089680ffce
Scale acc value in acc sensor code
2017-11-28 07:22:31 +00:00
Konstantin Sharlaimov (DigitalEntity)
49f10730a0
Migrate IMU and PID to fastram
2017-09-10 00:04:41 +10:00
Martin Budden
fd7d770fb1
Whitespace tidy
2017-07-05 07:42:07 +01:00
Konstantin Sharlaimov (DigitalEntity)
1456f01bbc
Accel calibration improvements
2017-04-05 15:51:21 +10:00
Konstantin Sharlaimov (DigitalEntity)
0e4833f41e
Rename MAG mode to HEADING LOCK mode; Allow to operate without compass
2017-03-19 16:07:54 +10:00
Konstantin Sharlaimov (DigitalEntity)
d117248a27
Remove GPS/gyro centrifugal compensation; Normalize acceleration vector properly
2017-02-14 11:00:36 +10:00
Konstantin Sharlaimov
bfd2050731
Merge pull request #1238 from iNavFlight/imu-remove-acc-weighting
...
Remove accelerometer weighting for attitude estimation
2017-02-08 18:39:03 +10:00
Martin Budden
5fcd222cc7
Split time declarations out of system.h into time.h
2017-02-07 17:01:02 +00:00
Konstantin Sharlaimov (DigitalEntity)
5ff0806232
Fix micros() returning gibberish after crossing the 32-bit boundary; Optimisation to async gyro
2017-02-07 22:54:47 +10:00
Konstantin Sharlaimov (DigitalEntity)
ff81423b8b
Remove accelerometer weighting for attitude estimation
2017-02-07 22:52:14 +10:00
Martin Budden
029842f8e7
Tidy of imu files
2017-02-06 12:15:59 +00:00
Martin Budden
9a0dcf8ae3
Fixed imuMeasuredRotationBF.A scaling
2017-01-29 09:15:12 +00:00
Martin Budden
1b4c009a3d
Scaled gyro output to float in gyro sensor
2017-01-28 21:38:47 +00:00
Martin Budden
78350e829b
Rationalisation of sensor function names
2017-01-25 09:17:59 +00:00
Konstantin Sharlaimov
52be822c90
Merge pull request #1070 from iNavFlight/imu-singularity-protection
...
IMU sanity protection
2017-01-19 17:32:06 +10:00
Martin Budden
72579fc742
Added systemConfig parameter group
2017-01-18 22:56:51 +00:00
Konstantin Sharlaimov (DigitalEntity)
0746f9a713
IMU NAN check and reset
...
Remove debug code; Add check for INF
2017-01-19 00:52:15 +10:00
Martin Budden
bf46c4809f
Added pidProfile parameter group
2017-01-14 09:33:28 +00:00
Martin Budden
10a0c8655f
Added imuConfig parameter group
2017-01-11 19:12:38 +00:00
Martin Budden
a690e49239
Added compassConfig parameter group
2017-01-03 17:47:32 +00:00
Martin Budden
ef3477f564
Code tidy
2017-01-03 15:07:00 +00:00
Martin Budden
0d2d74a259
Renamed config/config.* to fc/config.*
2017-01-01 15:59:45 +00:00
Konstantin Sharlaimov (DigitalEntity)
5e95d7d055
Make sensor calibration flags system STATEs; Check for calibration values for ACC and MAG; Block arming if calibration is not done for available sensor; Indicate ARMing blockers in armingFlags; Report armingFlags via MSP_STATUS_EX
2016-12-14 17:41:46 +10:00
Konstantin Sharlaimov (DigitalEntity)
7e88da2f06
Post rebase fixup
2016-12-11 19:06:03 +10:00
Krzysztof Matula
ab29fb8f9f
hardware status monitoring - generic interface
2016-12-11 19:06:03 +10:00
Martin Budden
afe057cb18
Build and pitotmeter fixup
2016-12-09 17:36:58 +00:00
Martin Budden
ec70fcae49
Rearranged sensor data into different structs
2016-12-09 16:46:42 +00:00
Martin Budden
5dcb8fa90c
Convert to using magDev_t as in betaflight
2016-12-08 10:50:55 +00:00
Martin Budden
14ec437311
Converted to using gyroDev_t and accDev_t as in betaflight
2016-12-06 22:26:42 +00:00
Martin Budden
769ccf3311
Added timeUs_t and timeMs_t types
2016-11-29 18:44:44 +00:00
Martin Budden
9477f9c74c
Moved master config imu items to imuConfig
2016-11-29 07:21:21 +00:00
Konstantin Sharlaimov
fff6a2e474
Merge pull request #755 from martinbudden/inav_scheduler
...
Pass currentTime as a parameter to all task functions
2016-11-06 17:15:56 +10:00
Konstantin Sharlaimov (DigitalEntity)
791fb74f96
Fixed missing imuMeasuredGravityBF calculation with async gyro processing
2016-11-06 16:24:28 +10:00
Martin Budden
38f80f013f
Pass currentTime as a parameter to all task functions
2016-11-04 09:07:27 +00:00
Martin Budden
d9f35dfc79
Reduced and rationalised #includes
2016-11-03 15:56:14 +00:00
Konstantin Sharlaimov
af78f06ad2
Merge pull request #172 from iNavFlight/imu-fw-heading-improvements
...
Prefer GPS heading on airplanes, fallback to MAG if available
2016-11-03 18:00:29 +10:00
Konstantin (DigitalEntity) Sharlaimov
439e891406
Improve attitude estimation accuracy for asynchronous gyro/acc/atti processing
2016-11-02 18:38:44 +01:00
Pawel Spychalski (DzikuVx)
bfec626640
tasks and integration
2016-11-02 18:38:44 +01:00
Martin Budden
da48582704
Changed mag.init to return false if failed ( #515 )
...
* Changed mag.init to return false if failed
* Moved compass init out of main.c and further tidying
2016-08-29 12:23:38 +03:00
Konstantin Sharlaimov (DigitalEntity)
e5914c4055
IMU: More tolerance for error between MAG and GPS heading
2016-08-15 01:14:41 +10:00
