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49 Commits

Author SHA1 Message Date
Benjamin Vedder e9d2fe967e
Pass gyro in radians per second to read callback 2022-11-19 07:38:58 +01:00
Benjamin Vedder b8e8952e32 Moved ahrs-parameters into attitude info, added ahrs-functions and imu callback to vesc_if 2022-11-19 00:09:54 +01:00
Mitch Lustig 00c03fa5bb Add Gyro filter 2022-11-15 01:47:52 -08:00
Benjamin Vedder ff427594e9 Added COMM_SET_APPCONF_NO_STORE and only restart app and IMU when needed 2022-10-30 14:48:22 +01:00
Benjamin Vedder 3dbd21820e Added terminal command to read internal imu type 2022-10-30 14:05:04 +01:00
Mitch Lustig dd7e5f70b5 Split accel filter by axis 2022-10-09 10:27:04 -07:00
Mitch Lustig 1c4d4a88c1 Add accel filter 2022-09-27 21:30:15 -07:00
Benjamin Vedder 05c76a3886 Added new hardwares 2022-09-03 09:36:56 +02:00
Mitch Lustig 5e61b94230 Set lsm6ds3 odr nearest to configured frequency 2022-07-19 22:27:02 -07:00
Benjamin Vedder f06574fbdd Added 60_75_mk2 2022-04-26 02:37:43 +02:00
Benjamin Vedder de09850ec0 Congfigurable i2c_bb bitrate 2022-04-19 17:21:19 +02:00
Benjamin Vedder 615dc52007
Merge branch 'master' into configurable_gyro_and_accel_filters 2022-04-19 16:05:27 +02:00
Mitch Lustig 430ec56965 Make magnetometer user configurable 2022-04-17 13:19:35 -07:00
Mitch Lustig a041a3b952 Add support for configuring IMU onboard filters 2022-04-15 21:31:03 -07:00
Kenn Sebesta cf6f32332d [Utils] Update the header includes 2022-03-23 20:25:37 -04:00
Benjamin Vedder e9295f5c61 Added function to set the IMU yaw for drift compensation 2022-03-09 23:35:06 +01:00
Benjamin Vedder 18a683fc7d Lisp updates, imu refactoring and rate check 2022-02-28 14:29:59 +01:00
Benjamin Vedder 9c484d01e4 Decreased stack sizes to save ram 2022-01-16 21:57:12 +01:00
Kenn Sebesta bec06ac85a [Utils] Change convenience multiplication factors into convenience MACROs 2021-10-13 14:18:05 -04:00
Kenn Sebesta aeb5d74488 [Utils] Use convenience macros for deg/rad conversions 2021-10-13 11:52:04 -04:00
Benjamin Vedder 31d524f7fa Made local functions static 2021-08-22 12:05:08 +02:00
Benjamin Vedder 91a19fa8b3 IMU improvements 2021-08-22 11:51:03 +02:00
Benjamin Vedder 7c6f1dd612 Added fusion IMU filter 2021-08-19 18:48:23 +02:00
Benjamin Vedder ff94d2481a BMI160 SPI fixes 2021-06-26 15:12:30 +02:00
Benjamin Vedder 0b6ccb17f9 some cleanup 2020-07-21 08:50:09 +02:00
Esben Rasmussen 5ebaf3d853 fixed mu_init_bmi160 to imu_init_bmi160_i2c 2020-07-03 11:43:09 +02:00
Esben Rasmussen f91bd849e4 even more autoformat stuff 2020-07-02 12:44:52 +02:00
Esben Rasmussen 6114f87996 more autoformat stuff 2020-07-02 12:40:56 +02:00
Esben Rasmussen 8ca85d26d5 fixing autoformat issues 
Kept a few corrections
 2020-07-02 12:26:28 +02:00
Esben Rasmussen 66d9bcac7f Added BMI160 SPI support 2020-07-02 12:00:12 +02:00
Mitch Lustig b827ad855b Finish up lsm6ds3 2020-05-29 16:39:03 -07:00
Mitch Lustig 976413887b Working LSM6DS3 needs lil work but its 3 am and i need to save progress 2020-05-29 03:10:43 -07:00
Mitch Lustig d24822c5c4 IMU Calibration Improvement 
Increase settle time, and clear out AHRS values, to get a proper settle on at even the most extreme angles on units with poorly calibrated accelerometers.
 2020-04-28 22:43:44 -07:00
Benjamin Vedder 8b6f0680e4 Added HW60_MK4 support and added 60_MK4 and 75_300_R3 to build script 2020-04-24 20:48:21 +02:00
Mitch Lustig c234627756 Cleanup print statement 2020-04-18 17:24:25 -07:00
Mitch Lustig 2c151e9e1a Initial stab complete! 2020-04-18 17:20:31 -07:00
Mitch Lustig 7869b34cf1 Good start on IMU Wizard 2020-04-18 11:51:50 -07:00
Mitch Lustig b295b67d8b Enable Mahony IMU filter 2020-01-31 19:36:00 -08:00
Mitch Lustig 95483cff41 Centralise IMU startup sequence 2019-09-11 23:08:28 -07:00
Mitch Lustig 72e9c24bd7 Make axes configurable, remove offset management 2019-09-08 18:32:53 -07:00
Mitch Lustig 98652977a2 Merge master 2019-09-08 11:42:28 -07:00
Benjamin Vedder 602db7435b FW3.59. Many updates, see changelog for details 2019-09-03 20:39:05 +02:00
Mitch Lustig 7a47053ca6 Add startup calibration sequence 2019-08-27 19:57:35 -07:00
Mitch Lustig f257f77584 Implement calibration 2019-08-27 09:10:44 -07:00
Mitch Lustig a2231593b2 Start on better gyro config 2019-08-25 23:49:33 -07:00
Mitch Lustig 62da9e5b83 Better peripheral gyro management 2019-08-09 23:16:20 -07:00
Benjamin Vedder e29c97f8fc Added ICM-20948 callback to state struct 2019-05-06 22:40:05 +02:00
Benjamin Vedder 404bbcf64b Fixed current offset fault bug, added support for multiple IMUs and ICM-20948 2019-05-03 19:55:36 +02:00
Benjamin Vedder 65298263b6 75/300 R2 support, terminal sync cmd, IMU support, option to disable permanent UART, collected timer functions in one place 2019-03-10 14:57:42 +01:00