Beat Küng
fd48d9c190
sensors: print status of temp compensation with 'sensors status'
2017-01-19 19:24:52 +01:00
Beat Küng
916a04bc56
sensors temp compensation: use SENSOR_COUNT_MAX instead of just 3
2017-01-19 19:24:52 +01:00
Beat Küng
117826a31f
sensors temp compensation: refactor into a separate class
...
- reduces some code duplication
- provides clear API & separation for temp compensation
additional changes:
- added timestamp to sensor_correction topic
- reduced its publication rate, to only when voting index or scales or
offsets change (if there is more than 1deg change in temperature)
2017-01-19 19:24:52 +01:00
Beat Küng
23d278cc43
sensors temp compensation: minor cleanup
2017-01-19 19:24:52 +01:00
Beat Küng
f38843278d
voted_sensors_update: make msl_pressure static const
2017-01-19 19:24:52 +01:00
Beat Küng
e1ff6af792
mc_att_control_main: initialize _sensor_corrections properly
2017-01-19 19:24:52 +01:00
Beat Küng
535b1ea0dd
voted_sensors_update: simplify accel & gyro poll methods
2017-01-19 19:24:52 +01:00
Lorenz Meier
6209cd0e57
Fix MPU6050
2017-01-19 19:24:52 +01:00
Lorenz Meier
62f95931ed
MPU9250: Fix device ID
2017-01-19 19:24:52 +01:00
Lorenz Meier
1134f1a868
Fix sensor IDs
2017-01-19 19:24:52 +01:00
Beat Küng
7d5cd02c70
mc_att_control_main: fix bound check for gyro instance
2017-01-19 19:24:52 +01:00
Beat Küng
bbd47389e0
voted_sensors_update: fix copy paste naming mistake
2017-01-19 19:24:52 +01:00
Beat Küng
0765ed552c
sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention
2017-01-19 19:24:52 +01:00
Lorenz Meier
7326fea142
Driver compile fixes
2017-01-19 19:24:52 +01:00
Lorenz Meier
71fa064bc7
MPU6K: Fix device ID
2017-01-19 19:24:52 +01:00
Lorenz Meier
171c321acc
MS5611: Fix device ID
2017-01-19 19:24:52 +01:00
Lorenz Meier
9860a17e25
MPU6K: Fix device ID
2017-01-19 19:24:52 +01:00
Lorenz Meier
479e6937d6
LSM303D: Fix devid
2017-01-19 19:24:52 +01:00
Lorenz Meier
36e4b8e5e8
LPS25H: Fix devid
2017-01-19 19:24:52 +01:00
Lorenz Meier
79caa30bd5
L3GD20: Fix devid
2017-01-19 19:24:52 +01:00
Lorenz Meier
6e2c43b3d9
BMP280: Fix devid
2017-01-19 19:24:52 +01:00
Lorenz Meier
a42932033e
BMI160: Fix devid
2017-01-19 19:24:52 +01:00
Lorenz Meier
00d26b75e9
MC att control: Harden against incorrect indices
2017-01-19 19:24:52 +01:00
Lorenz Meier
905c091f8c
MAVLink receiver: Use fake device ID
2017-01-19 19:24:52 +01:00
Lorenz Meier
9f0d588989
Simulated drivers: Use fake device IDs
2017-01-19 19:24:52 +01:00
Lorenz Meier
49a29ee775
Fix up DriverFramework wrappers, bring them back to the real device ID they have already in-built
2017-01-19 19:24:52 +01:00
Paul Riseborough
eac6dfed3c
mc_att_control: Sync attitude loops to gyro data
...
Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.
2017-01-19 19:24:52 +01:00
Paul Riseborough
edbe68f833
posix drivers: use orb instance as surrogate sensor ID for simulated IMU
2017-01-19 19:24:52 +01:00
Paul Riseborough
e84a189380
drivers: use driver class instance as surrogate sensor ID for gyro and accelerometer
2017-01-19 19:24:52 +01:00
Paul Riseborough
0485c2b94a
sensors: add baro pressure temperature compensation and reporting
2017-01-19 19:24:52 +01:00
Paul Riseborough
c21b4aaf2e
posix drivers: Populate baro device ID
...
TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
Paul Riseborough
0ba31b521c
uavcan: Populate baro device ID
...
TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
Paul Riseborough
677616ed83
mavlink: Populate baro device ID
...
TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
Paul Riseborough
5e53a5425a
drivers: Populate baro device ID
...
TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
Paul Riseborough
c2fc283fdb
sensors: Update single axis temp comp method to 5th order
...
This allows future use with baro sensors that require a higher fit order
2017-01-19 19:24:52 +01:00
Paul Riseborough
6a78df7fa0
ekf_att_pos_estimator: Publish control state gyro bias
2017-01-19 19:24:52 +01:00
Paul Riseborough
f8cef1e9ab
attitude_estimator_q: populate control state gyro bias data
...
Populate with zeros.
TODO provide estimate.
2017-01-19 19:24:52 +01:00
Paul Riseborough
27e6f07485
ekf2: publish control state gyro bias data
2017-01-19 19:24:52 +01:00
Paul Riseborough
da87e3eb0a
posix drivers: Populate device ID in sensor topics for simulated IMU
2017-01-19 19:24:52 +01:00
Paul Riseborough
961474f430
posix drivers: Populate device ID in sensor topics for mpu9250
2017-01-19 19:24:52 +01:00
Paul Riseborough
1009550262
posix drivers: Populate device ID in sensor topics for mpu6050
2017-01-19 19:24:52 +01:00
Paul Riseborough
48f81f24e1
posix drivers: Populate device ID in sensor topics for lsm9ds1 sensor
2017-01-19 19:24:52 +01:00
Paul Riseborough
7c9e9f31e1
drivers/mpu9250: Populate device ID in sensor topics
2017-01-19 19:24:52 +01:00
Paul Riseborough
5177866b54
drivers/mpu6500: Populate device ID in sensor topics
2017-01-19 19:24:52 +01:00
Paul Riseborough
ddda5eccd6
drivers/mpu6000: Populate device ID in sensor topics
2017-01-19 19:24:52 +01:00
Paul Riseborough
cfaef7f433
drivers/lsm303d: Populate device ID in sensor topics
2017-01-19 19:24:52 +01:00
Paul Riseborough
14e2ea78b3
drivers/l3gd20: Populate device ID in sensor topic
2017-01-19 19:24:52 +01:00
Paul Riseborough
9014443d77
drivers/bmi160: Populate device ID in sensor topics
2017-01-19 19:24:52 +01:00
Paul Riseborough
63f032832f
Add prototype IMU temperature compensation
...
Enabled using TC_A_ENABLE and TC_G_ENABLE parameters
Disabled by default.
IMU offsets and scale factors for selected sensor published to sensor_correction topic
TODO Parameter storage method is cumbersome
2017-01-19 19:24:52 +01:00
Matthias Grob
db581fa5e8
mc_pos_control: hotfix for possible thrust below minimum thrust setting
...
Hotfix after a crash because of a heavily negative desired thrust that got clipped to 0 by the mixer.
0 thrust meant no more attitude tracking.
2017-01-19 18:05:57 +01:00
