#include <AP_InertialSensor.h>

Inheritance diagram for AP_InertialSensor:

Collaboration diagram for AP_InertialSensor:

Classes
class	BatchSampler

struct	PeakHoldState

Public Types
enum	Gyro_Calibration_Timing { GYRO_CAL_NEVER = 0, GYRO_CAL_STARTUP_ONLY = 1 }

enum	IMU_SENSOR_TYPE { IMU_SENSOR_TYPE_ACCEL = 0, IMU_SENSOR_TYPE_GYRO = 1 }

Public Member Functions
	AP_InertialSensor ()

	AP_InertialSensor (const AP_InertialSensor &other)=delete

AP_InertialSensor &	operator= (const AP_InertialSensor &)=delete

void	init (uint16_t sample_rate_hz)

uint8_t	register_gyro (uint16_t raw_sample_rate_hz, uint32_t id)

uint8_t	register_accel (uint16_t raw_sample_rate_hz, uint32_t id)

void	periodic ()

bool	calibrate_trim (float &trim_roll, float &trim_pitch)

bool	calibrating () const
	calibrating - returns true if the gyros or accels are currently being calibrated More...

void	init_gyro (void)

const Vector3f &	get_gyro (uint8_t i) const

const Vector3f &	get_gyro (void) const

const Vector3f &	get_gyro_offsets (uint8_t i) const

const Vector3f &	get_gyro_offsets (void) const

bool	get_delta_angle (uint8_t i, Vector3f &delta_angle) const

bool	get_delta_angle (Vector3f &delta_angle) const

float	get_delta_angle_dt (uint8_t i) const

float	get_delta_angle_dt () const

bool	get_delta_velocity (uint8_t i, Vector3f &delta_velocity) const

bool	get_delta_velocity (Vector3f &delta_velocity) const

float	get_delta_velocity_dt (uint8_t i) const

float	get_delta_velocity_dt () const

const Vector3f &	get_accel (uint8_t i) const

const Vector3f &	get_accel (void) const

uint32_t	get_gyro_error_count (uint8_t i) const

uint32_t	get_accel_error_count (uint8_t i) const

bool	get_gyro_health (uint8_t instance) const

bool	get_gyro_health (void) const

bool	get_gyro_health_all (void) const

uint8_t	get_gyro_count (void) const

bool	gyro_calibrated_ok (uint8_t instance) const

bool	gyro_calibrated_ok_all () const

bool	use_gyro (uint8_t instance) const

Gyro_Calibration_Timing	gyro_calibration_timing ()

bool	get_accel_health (uint8_t instance) const

bool	get_accel_health (void) const

bool	get_accel_health_all (void) const

uint8_t	get_accel_count (void) const

bool	accel_calibrated_ok_all () const

bool	use_accel (uint8_t instance) const

uint16_t	get_gyro_rate_hz (uint8_t instance) const

uint16_t	get_accel_rate_hz (uint8_t instance) const

const Vector3f &	get_accel_offsets (uint8_t i) const

const Vector3f &	get_accel_offsets (void) const

const Vector3f &	get_accel_scale (uint8_t i) const

const Vector3f &	get_accel_scale (void) const

const Vector3f &	get_imu_pos_offset (uint8_t instance) const

const Vector3f &	get_imu_pos_offset (void) const

float	get_temperature (uint8_t instance) const

float	get_delta_time () const

float	get_gyro_drift_rate (void) const

void	update (void)

void	wait_for_sample (void)

void	set_board_orientation (enum Rotation orientation, Matrix3f *custom_rotation=nullptr)

uint16_t	get_sample_rate (void) const

float	get_loop_delta_t (void) const

bool	healthy (void) const

uint8_t	get_primary_accel (void) const

uint8_t	get_primary_gyro (void) const

void	set_hil_mode (void)

uint8_t	get_gyro_filter_hz (void) const

uint8_t	get_accel_filter_hz (void) const

void	set_log_raw_bit (uint32_t log_raw_bit)

void	calc_vibration_and_clipping (uint8_t instance, const Vector3f &accel, float dt)

Vector3f	get_vibration_levels () const

Vector3f	get_vibration_levels (uint8_t instance) const

uint32_t	get_accel_clip_count (uint8_t instance) const

bool	is_still ()

void	set_accel (uint8_t instance, const Vector3f &accel)

void	set_gyro (uint8_t instance, const Vector3f &gyro)

void	set_delta_time (float delta_time)

void	set_delta_velocity (uint8_t instance, float deltavt, const Vector3f &deltav)

void	set_delta_angle (uint8_t instance, const Vector3f &deltaa, float deltaat)

AuxiliaryBus *	get_auxiliary_bus (int16_t backend_id)

AuxiliaryBus *	get_auxiliary_bus (int16_t backend_id, uint8_t instance)

void	detect_backends (void)

void	set_accel_peak_hold (uint8_t instance, const Vector3f &accel)

float	get_accel_peak_hold_neg_x () const

AP_AccelCal *	get_acal () const

bool	get_fixed_mount_accel_cal_sample (uint8_t sample_num, Vector3f &ret) const

bool	get_primary_accel_cal_sample_avg (uint8_t sample_num, Vector3f &ret) const

bool	get_new_trim (float &trim_roll, float &trim_pitch)

void	acal_init ()

void	acal_update ()

MAV_RESULT	simple_accel_cal ()

bool	accel_cal_requires_reboot () const

uint32_t	get_last_update_usec (void) const

Static Public Member Functions
static AP_InertialSensor *	get_instance ()

Public Attributes
BatchSampler	batchsampler {*this}

float	delta_time

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
bool	_add_backend (AP_InertialSensor_Backend *backend)

void	_start_backends ()

AP_InertialSensor_Backend *	_find_backend (int16_t backend_id, uint8_t instance)

void	_init_gyro ()

bool	_calculate_trim (const Vector3f &accel_sample, float &trim_roll, float &trim_pitch)

void	_save_gyro_calibration ()

void	_acal_save_calibrations ()

void	_acal_event_failure ()

AccelCalibrator *	_acal_get_calibrator (uint8_t i)

Private Attributes
AP_InertialSensor_Backend *	_backends [INS_MAX_BACKENDS]

uint8_t	_gyro_count

uint8_t	_accel_count

uint8_t	_backend_count

uint16_t	_sample_rate

float	_loop_delta_t

float	_loop_delta_t_max

Vector3f	_accel [INS_MAX_INSTANCES]

Vector3f	_delta_velocity [INS_MAX_INSTANCES]

float	_delta_velocity_dt [INS_MAX_INSTANCES]

bool	_delta_velocity_valid [INS_MAX_INSTANCES]

Vector3f	_delta_velocity_acc [INS_MAX_INSTANCES]

float	_delta_velocity_acc_dt [INS_MAX_INSTANCES]

LowPassFilter2pVector3f	_accel_filter [INS_MAX_INSTANCES]

LowPassFilter2pVector3f	_gyro_filter [INS_MAX_INSTANCES]

Vector3f	_accel_filtered [INS_MAX_INSTANCES]

Vector3f	_gyro_filtered [INS_MAX_INSTANCES]

bool	_new_accel_data [INS_MAX_INSTANCES]

bool	_new_gyro_data [INS_MAX_INSTANCES]

NotchFilterVector3fParam	_notch_filter

Vector3f	_gyro [INS_MAX_INSTANCES]

Vector3f	_delta_angle [INS_MAX_INSTANCES]

float	_delta_angle_dt [INS_MAX_INSTANCES]

bool	_delta_angle_valid [INS_MAX_INSTANCES]

float	_delta_angle_acc_dt [INS_MAX_INSTANCES]

Vector3f	_delta_angle_acc [INS_MAX_INSTANCES]

Vector3f	_last_delta_angle [INS_MAX_INSTANCES]

Vector3f	_last_raw_gyro [INS_MAX_INSTANCES]

uint8_t	_accel_sensor_rate_sampling_enabled

uint8_t	_gyro_sensor_rate_sampling_enabled

uint16_t	_accel_raw_sampling_multiplier [INS_MAX_INSTANCES]

uint16_t	_gyro_raw_sampling_multiplier [INS_MAX_INSTANCES]

AP_Int16	_old_product_id

AP_Int32	_accel_id [INS_MAX_INSTANCES]

AP_Int32	_gyro_id [INS_MAX_INSTANCES]

AP_Vector3f	_accel_scale [INS_MAX_INSTANCES]

AP_Vector3f	_accel_offset [INS_MAX_INSTANCES]

AP_Vector3f	_gyro_offset [INS_MAX_INSTANCES]

AP_Vector3f	_accel_pos [INS_MAX_INSTANCES]

float	_accel_max_abs_offsets [INS_MAX_INSTANCES]

float	_accel_raw_sample_rates [INS_MAX_INSTANCES]

float	_gyro_raw_sample_rates [INS_MAX_INSTANCES]

uint8_t	_accel_over_sampling [INS_MAX_INSTANCES]

uint8_t	_gyro_over_sampling [INS_MAX_INSTANCES]

uint64_t	_accel_last_sample_us [INS_MAX_INSTANCES]

uint64_t	_gyro_last_sample_us [INS_MAX_INSTANCES]

uint16_t	_sample_accel_count [INS_MAX_INSTANCES]

uint32_t	_sample_accel_start_us [INS_MAX_INSTANCES]

uint16_t	_sample_gyro_count [INS_MAX_INSTANCES]

uint32_t	_sample_gyro_start_us [INS_MAX_INSTANCES]

float	_temperature [INS_MAX_INSTANCES]

AP_Int8	_accel_filter_cutoff

AP_Int8	_gyro_filter_cutoff

AP_Int8	_gyro_cal_timing

AP_Int8	_use [INS_MAX_INSTANCES]

AP_Int8	_fast_sampling_mask

AP_Int8	_enable_mask

enum Rotation	_board_orientation

Matrix3f *	_custom_rotation

enum Rotation	_gyro_orientation [INS_MAX_INSTANCES]

enum Rotation	_accel_orientation [INS_MAX_INSTANCES]

bool	_gyro_cal_ok [INS_MAX_INSTANCES]

bool	_accel_id_ok [INS_MAX_INSTANCES]

uint8_t	_primary_gyro

uint8_t	_primary_accel

uint32_t	_log_raw_bit

bool	_have_sample:1

bool	_hil_mode:1

bool	_calibrating:1

bool	_backends_detected:1

float	_delta_time

uint32_t	_last_sample_usec

uint32_t	_next_sample_usec

uint32_t	_sample_period_usec

uint32_t	_last_update_usec

bool	_gyro_healthy [INS_MAX_INSTANCES]

bool	_accel_healthy [INS_MAX_INSTANCES]

uint32_t	_accel_error_count [INS_MAX_INSTANCES]

uint32_t	_gyro_error_count [INS_MAX_INSTANCES]

uint32_t	_accel_clip_count [INS_MAX_INSTANCES]

LowPassFilterVector3f	_accel_vibe_floor_filter [INS_VIBRATION_CHECK_INSTANCES]

LowPassFilterVector3f	_accel_vibe_filter [INS_VIBRATION_CHECK_INSTANCES]

struct AP_InertialSensor::PeakHoldState	_peak_hold_state

AP_Float	_still_threshold

struct {
float delta_time

}	_hil

AP_Int8	_acc_body_aligned

AP_Int8	_trim_option

AP_AccelCal *	_acal

AccelCalibrator *	_accel_calibrator

float	_trim_pitch

float	_trim_roll

bool	_new_trim

bool	_accel_cal_requires_reboot

uint32_t	_accel_startup_error_count [INS_MAX_INSTANCES]

uint32_t	_gyro_startup_error_count [INS_MAX_INSTANCES]

bool	_startup_error_counts_set

uint32_t	_startup_ms

Static Private Attributes
static AP_InertialSensor *	_s_instance = nullptr

Friends
class	AP_InertialSensor_Backend

Detailed Description

Definition at line 47 of file AP_InertialSensor.h.

Member Enumeration Documentation

◆ Gyro_Calibration_Timing

enum AP_InertialSensor::Gyro_Calibration_Timing

Enumerator
GYRO_CAL_NEVER
GYRO_CAL_STARTUP_ONLY

Definition at line 60 of file AP_InertialSensor.h.

◆ IMU_SENSOR_TYPE

enum AP_InertialSensor::IMU_SENSOR_TYPE

Enumerator
IMU_SENSOR_TYPE_ACCEL
IMU_SENSOR_TYPE_GYRO

Definition at line 278 of file AP_InertialSensor.h.

Constructor & Destructor Documentation

◆ AP_InertialSensor() [1/2]

AP_InertialSensor::AP_InertialSensor ( )

Definition at line 455 of file AP_InertialSensor.cpp.

Referenced by get_instance().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ AP_InertialSensor() [2/2]

AP_InertialSensor::AP_InertialSensor ( const AP_InertialSensor & other )

delete

Member Function Documentation

◆ _acal_event_failure()

void AP_InertialSensor::_acal_event_failure ( )

privatevirtual

Reimplemented from AP_AccelCal_Client.

Definition at line 1749 of file AP_InertialSensor.cpp.

◆ _acal_get_calibrator()

AccelCalibrator* AP_InertialSensor::_acal_get_calibrator ( uint8_t i )

inlineprivatevirtual

Implements AP_AccelCal_Client.

Definition at line 569 of file AP_InertialSensor.h.

Here is the call graph for this function:

◆ _acal_save_calibrations()

void AP_InertialSensor::_acal_save_calibrations ( )

privatevirtual

Implements AP_AccelCal_Client.

Definition at line 1685 of file AP_InertialSensor.cpp.

Here is the call graph for this function:

◆ _add_backend()

bool AP_InertialSensor::_add_backend ( AP_InertialSensor_Backend * backend )

private

Definition at line 651 of file AP_InertialSensor.cpp.

Referenced by detect_backends().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _calculate_trim()

bool AP_InertialSensor::_calculate_trim	(	const Vector3f &	accel_sample,
		float &	trim_roll,
		float &	trim_pitch
	)

private

Definition at line 882 of file AP_InertialSensor.cpp.

Referenced by calibrate_trim().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _find_backend()

AP_InertialSensor_Backend * AP_InertialSensor::_find_backend	(	int16_t	backend_id,
		uint8_t	instance
	)

private

Definition at line 586 of file AP_InertialSensor.cpp.

Referenced by get_auxiliary_bus().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _init_gyro()

void AP_InertialSensor::_init_gyro ( )

private

Definition at line 1078 of file AP_InertialSensor.cpp.

Referenced by init_gyro().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _save_gyro_calibration()

void AP_InertialSensor::_save_gyro_calibration ( )

private

Definition at line 1217 of file AP_InertialSensor.cpp.

Referenced by init_gyro().

Here is the caller graph for this function:

◆ _start_backends()

void AP_InertialSensor::_start_backends ( )

private

Definition at line 563 of file AP_InertialSensor.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acal_init()

void AP_InertialSensor::acal_init ( )

Definition at line 1657 of file AP_InertialSensor.cpp.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration(), and get_acal().

Here is the caller graph for this function:

◆ acal_update()

void AP_InertialSensor::acal_update ( )

Definition at line 1669 of file AP_InertialSensor.cpp.

Referenced by get_acal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ accel_cal_requires_reboot()

bool AP_InertialSensor::accel_cal_requires_reboot ( ) const

inline

Definition at line 273 of file AP_InertialSensor.h.

Referenced by AP_Arming::ins_checks().

Here is the caller graph for this function:

◆ accel_calibrated_ok_all()

bool AP_InertialSensor::accel_calibrated_ok_all ( ) const

Definition at line 1023 of file AP_InertialSensor.cpp.

Referenced by get_accel_count(), and AP_Arming::ins_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ calc_vibration_and_clipping()

void AP_InertialSensor::calc_vibration_and_clipping	(	uint8_t	instance,
		const Vector3f &	accel,
		float	dt
	)

Definition at line 1593 of file AP_InertialSensor.cpp.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), and set_log_raw_bit().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ calibrate_trim()

bool AP_InertialSensor::calibrate_trim	(	float &	trim_roll,
		float &	trim_pitch
	)

Definition at line 971 of file AP_InertialSensor.cpp.

Here is the call graph for this function:

◆ calibrating()

bool AP_InertialSensor::calibrating ( ) const

inline

calibrating - returns true if the gyros or accels are currently being calibrated

Definition at line 86 of file AP_InertialSensor.h.

Here is the call graph for this function:

◆ detect_backends()

void AP_InertialSensor::detect_backends ( void )

Definition at line 668 of file AP_InertialSensor.cpp.

Referenced by _start_backends(), get_auxiliary_bus(), and AP_Compass_AK8963::probe_mpu9250().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_acal()

AP_AccelCal* AP_InertialSensor::get_acal ( ) const

inline

Definition at line 252 of file AP_InertialSensor.h.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration(), and GCS_MAVLINK::handle_command_ack().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel() [1/2]

const Vector3f& AP_InertialSensor::get_accel ( uint8_t i ) const

inline

Fetch the current accelerometer values

Returns: vector of current accelerations in m/s/s

Definition at line 124 of file AP_InertialSensor.h.

Referenced by AP_AHRS_DCM::drift_correction(), AP_YawController::get_servo_out(), NavEKF2_core::InitialiseFilterBootstrap(), NavEKF3_core::InitialiseFilterBootstrap(), AP_Arming::ins_checks(), DataFlash_Class::Log_Write_IMU_instance(), AP_AHRS_DCM::reset(), run_test(), GCS_MAVLINK::send_raw_imu(), AP_TECS::update_50hz(), AP_AHRS_NavEKF::update_EKF2(), and AP_AHRS_NavEKF::update_EKF3().

Here is the caller graph for this function:

◆ get_accel() [2/2]

const Vector3f& AP_InertialSensor::get_accel ( void ) const

inline

Definition at line 125 of file AP_InertialSensor.h.

Referenced by _init_gyro(), calibrate_trim(), get_accel(), get_delta_velocity(), and simple_accel_cal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel_clip_count()

uint32_t AP_InertialSensor::get_accel_clip_count ( uint8_t instance ) const

Definition at line 907 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels(), DataFlash_Class::Log_Write_Vibration(), and GCS_MAVLINK::send_vibration().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel_count()

uint8_t AP_InertialSensor::get_accel_count ( void ) const

inline

Definition at line 143 of file AP_InertialSensor.h.

Referenced by _acal_get_calibrator(), _start_backends(), accel_calibrated_ok_all(), AP_AHRS_DCM::drift_correction(), get_accel_clip_count(), get_accel_health_all(), init(), NavEKF3::InitialiseFilter(), NavEKF2::InitialiseFilter(), AP_Arming::ins_checks(), DataFlash_Class::Log_Write_IMU(), DataFlash_Class::Log_Write_IMUDT(), NavEKF2_core::readDeltaVelocity(), NavEKF3_core::readDeltaVelocity(), run_test(), GCS_MAVLINK::send_raw_imu(), setup(), simple_accel_cal(), AP_AHRS_NavEKF::update_EKF2(), and AP_AHRS_NavEKF::update_EKF3().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel_error_count()

uint32_t AP_InertialSensor::get_accel_error_count ( uint8_t i ) const

inline

Definition at line 128 of file AP_InertialSensor.h.

Referenced by DataFlash_Class::Log_Write_IMU_instance().

Here is the caller graph for this function:

◆ get_accel_filter_hz()

uint8_t AP_InertialSensor::get_accel_filter_hz ( void ) const

inline

Definition at line 213 of file AP_InertialSensor.h.

◆ get_accel_health() [1/2]

bool AP_InertialSensor::get_accel_health ( uint8_t instance ) const

inline

Definition at line 140 of file AP_InertialSensor.h.

Referenced by AP_AHRS_DCM::drift_correction(), DataFlash_Class::Log_Write_IMU_instance(), run_test(), AP_AHRS_NavEKF::update_EKF2(), and AP_AHRS_NavEKF::update_EKF3().

Here is the caller graph for this function:

◆ get_accel_health() [2/2]

bool AP_InertialSensor::get_accel_health ( void ) const

inline

Definition at line 141 of file AP_InertialSensor.h.

Referenced by calibrate_trim(), get_accel_health(), get_accel_health_all(), get_delta_velocity(), healthy(), and use_accel().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel_health_all()

bool AP_InertialSensor::get_accel_health_all ( void ) const

Definition at line 955 of file AP_InertialSensor.cpp.

Referenced by get_accel_health(), and AP_Arming::ins_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel_offsets() [1/2]

const Vector3f& AP_InertialSensor::get_accel_offsets ( uint8_t i ) const

inline

Definition at line 152 of file AP_InertialSensor.h.

Referenced by display_offsets_and_scaling(), and GCS_MAVLINK::send_sensor_offsets().

Here is the caller graph for this function:

◆ get_accel_offsets() [2/2]

const Vector3f& AP_InertialSensor::get_accel_offsets ( void ) const

inline

Definition at line 153 of file AP_InertialSensor.h.

Referenced by get_accel_offsets().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_accel_peak_hold_neg_x()

float AP_InertialSensor::get_accel_peak_hold_neg_x ( ) const

inline

Definition at line 249 of file AP_InertialSensor.h.

◆ get_accel_rate_hz()

uint16_t AP_InertialSensor::get_accel_rate_hz ( uint8_t instance ) const

inline

Definition at line 149 of file AP_InertialSensor.h.

Referenced by DataFlash_Class::Log_Write_IMU_instance().

Here is the caller graph for this function:

◆ get_accel_scale() [1/2]

const Vector3f& AP_InertialSensor::get_accel_scale ( uint8_t i ) const

inline

Definition at line 156 of file AP_InertialSensor.h.

Referenced by display_offsets_and_scaling().

Here is the caller graph for this function:

◆ get_accel_scale() [2/2]

const Vector3f& AP_InertialSensor::get_accel_scale ( void ) const

inline

Definition at line 157 of file AP_InertialSensor.h.

Referenced by get_accel_scale().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_auxiliary_bus() [1/2]

AuxiliaryBus* AP_InertialSensor::get_auxiliary_bus ( int16_t backend_id )

inline

Definition at line 242 of file AP_InertialSensor.h.

Referenced by AP_AK8963_BusDriver_Auxiliary::AP_AK8963_BusDriver_Auxiliary(), and get_auxiliary_bus().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_auxiliary_bus() [2/2]

AuxiliaryBus * AP_InertialSensor::get_auxiliary_bus	(	int16_t	backend_id,
		uint8_t	instance
	)

Definition at line 1580 of file AP_InertialSensor.cpp.

Here is the call graph for this function:

◆ get_delta_angle() [1/2]

bool AP_InertialSensor::get_delta_angle	(	uint8_t	i,
		Vector3f &	delta_angle
	)		const

Definition at line 1445 of file AP_InertialSensor.cpp.

Referenced by get_gyro_offsets(), DataFlash_Class::Log_Write_IMUDT_instance(), AP_AHRS_DCM::matrix_update(), NavEKF2_core::readDeltaAngle(), and NavEKF3_core::readDeltaAngle().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_angle() [2/2]

bool AP_InertialSensor::get_delta_angle ( Vector3f & delta_angle ) const

inline

Definition at line 108 of file AP_InertialSensor.h.

Referenced by get_delta_angle().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_angle_dt() [1/2]

float AP_InertialSensor::get_delta_angle_dt ( uint8_t i ) const

Definition at line 1492 of file AP_InertialSensor.cpp.

Referenced by DataFlash_Class::Log_Write_IMUDT_instance(), NavEKF2_core::readDeltaAngle(), and NavEKF3_core::readIMUData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_angle_dt() [2/2]

float AP_InertialSensor::get_delta_angle_dt ( ) const

inline

Definition at line 111 of file AP_InertialSensor.h.

Referenced by get_delta_angle(), and get_delta_angle_dt().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_time()

float AP_InertialSensor::get_delta_time ( ) const

inline

Definition at line 174 of file AP_InertialSensor.h.

Referenced by get_delta_angle(), get_delta_angle_dt(), get_delta_velocity(), get_delta_velocity_dt(), DataFlash_Class::Log_Write_IMUDT_instance(), and AP_AHRS_DCM::update().

Here is the caller graph for this function:

◆ get_delta_velocity() [1/2]

bool AP_InertialSensor::get_delta_velocity	(	uint8_t	i,
		Vector3f &	delta_velocity
	)		const

Definition at line 1462 of file AP_InertialSensor.cpp.

Referenced by AP_AHRS_DCM::drift_correction(), get_delta_angle_dt(), AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), AP_AHRS::getCorrectedDeltaVelocityNED(), DataFlash_Class::Log_Write_IMUDT_instance(), NavEKF2_core::readDeltaVelocity(), and NavEKF3_core::readDeltaVelocity().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_velocity() [2/2]

bool AP_InertialSensor::get_delta_velocity ( Vector3f & delta_velocity ) const

inline

Definition at line 115 of file AP_InertialSensor.h.

Referenced by get_delta_velocity().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_velocity_dt() [1/2]

float AP_InertialSensor::get_delta_velocity_dt ( uint8_t i ) const

Definition at line 1477 of file AP_InertialSensor.cpp.

Referenced by AP_AHRS_DCM::drift_correction(), AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), AP_AHRS::getCorrectedDeltaVelocityNED(), DataFlash_Class::Log_Write_IMUDT_instance(), NavEKF2_core::readDeltaVelocity(), and NavEKF3_core::readDeltaVelocity().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_delta_velocity_dt() [2/2]

float AP_InertialSensor::get_delta_velocity_dt ( ) const

inline

Definition at line 118 of file AP_InertialSensor.h.

Referenced by get_delta_velocity(), and get_delta_velocity_dt().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_fixed_mount_accel_cal_sample()

bool AP_InertialSensor::get_fixed_mount_accel_cal_sample	(	uint8_t	sample_num,
		Vector3f &	ret
	)		const

Definition at line 1774 of file AP_InertialSensor.cpp.

Referenced by _acal_save_calibrations(), and get_acal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_gyro() [1/2]

const Vector3f& AP_InertialSensor::get_gyro ( uint8_t i ) const

inline

Fetch the current gyro values

Returns: vector of rotational rates in radians/sec

Definition at line 99 of file AP_InertialSensor.h.

Referenced by NavEKF2_core::detectOptFlowTakeoff(), NavEKF3_core::detectOptFlowTakeoff(), AP_AHRS::get_gyro_latest(), AP_Arming::ins_checks(), DataFlash_Class::Log_Write_IMU_instance(), run_test(), GCS_MAVLINK::send_raw_imu(), AP_AHRS_NavEKF::update_EKF2(), and AP_AHRS_NavEKF::update_EKF3().

Here is the caller graph for this function:

◆ get_gyro() [2/2]

const Vector3f& AP_InertialSensor::get_gyro ( void ) const

inline

Definition at line 100 of file AP_InertialSensor.h.

Referenced by _init_gyro(), get_delta_angle(), and get_gyro().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_gyro_count()

uint8_t AP_InertialSensor::get_gyro_count ( void ) const

inline

Definition at line 134 of file AP_InertialSensor.h.

Referenced by _init_gyro(), _start_backends(), get_gyro_health_all(), gyro_calibrated_ok_all(), AP_Arming::ins_checks(), DataFlash_Class::Log_Write_IMU(), DataFlash_Class::Log_Write_IMUDT(), AP_AHRS_DCM::matrix_update(), NavEKF2_core::readDeltaAngle(), NavEKF3_core::readDeltaAngle(), run_test(), GCS_MAVLINK::send_raw_imu(), and setup().

Here is the caller graph for this function:

◆ get_gyro_drift_rate()

float AP_InertialSensor::get_gyro_drift_rate ( void ) const

inline

Definition at line 178 of file AP_InertialSensor.h.

Referenced by AP_AHRS::AP_AHRS().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_gyro_error_count()

uint32_t AP_InertialSensor::get_gyro_error_count ( uint8_t i ) const

inline

Definition at line 127 of file AP_InertialSensor.h.

Referenced by DataFlash_Class::Log_Write_IMU_instance().

Here is the caller graph for this function:

◆ get_gyro_filter_hz()

uint8_t AP_InertialSensor::get_gyro_filter_hz ( void ) const

inline

Definition at line 210 of file AP_InertialSensor.h.

◆ get_gyro_health() [1/2]

bool AP_InertialSensor::get_gyro_health ( uint8_t instance ) const

inline

Definition at line 131 of file AP_InertialSensor.h.

Referenced by NavEKF2_core::detectOptFlowTakeoff(), NavEKF3_core::detectOptFlowTakeoff(), DataFlash_Class::Log_Write_IMU_instance(), AP_AHRS_DCM::matrix_update(), and run_test().

Here is the caller graph for this function:

◆ get_gyro_health() [2/2]

bool AP_InertialSensor::get_gyro_health ( void ) const

inline

Definition at line 132 of file AP_InertialSensor.h.

Referenced by get_delta_angle(), get_gyro_health(), get_gyro_health_all(), healthy(), and use_gyro().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_gyro_health_all()

bool AP_InertialSensor::get_gyro_health_all ( void ) const

Definition at line 916 of file AP_InertialSensor.cpp.

Referenced by get_gyro_health(), and AP_Arming::ins_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_gyro_offsets() [1/2]

const Vector3f& AP_InertialSensor::get_gyro_offsets ( uint8_t i ) const

inline

Definition at line 103 of file AP_InertialSensor.h.

Referenced by display_offsets_and_scaling(), and GCS_MAVLINK::send_sensor_offsets().

Here is the caller graph for this function:

◆ get_gyro_offsets() [2/2]

const Vector3f& AP_InertialSensor::get_gyro_offsets ( void ) const

inline

Definition at line 104 of file AP_InertialSensor.h.

Referenced by get_gyro_offsets().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_gyro_rate_hz()

uint16_t AP_InertialSensor::get_gyro_rate_hz ( uint8_t instance ) const

inline

Definition at line 148 of file AP_InertialSensor.h.

Referenced by DataFlash_Class::Log_Write_IMU_instance().

Here is the caller graph for this function:

◆ get_imu_pos_offset() [1/2]

const Vector3f& AP_InertialSensor::get_imu_pos_offset ( uint8_t instance ) const

inline

Definition at line 160 of file AP_InertialSensor.h.

Referenced by AC_PrecLand::construct_pos_meas_using_rangefinder(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), and AC_PrecLand::run_output_prediction().

Here is the caller graph for this function:

◆ get_imu_pos_offset() [2/2]

const Vector3f& AP_InertialSensor::get_imu_pos_offset ( void ) const

inline

Definition at line 163 of file AP_InertialSensor.h.

◆ get_instance()

AP_InertialSensor * AP_InertialSensor::get_instance ( void )

static

Definition at line 479 of file AP_InertialSensor.cpp.

Referenced by AP::ins(), and AP_Compass_AK8963::probe_mpu9250().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_last_update_usec()

uint32_t AP_InertialSensor::get_last_update_usec ( void ) const

inline

Definition at line 276 of file AP_InertialSensor.h.

Referenced by NavEKF3::UpdateFilter(), and NavEKF2::UpdateFilter().

Here is the caller graph for this function:

◆ get_loop_delta_t()

float AP_InertialSensor::get_loop_delta_t ( void ) const

inline

Definition at line 199 of file AP_InertialSensor.h.

Referenced by NavEKF2_core::InitialiseFilterBootstrap(), NavEKF2_core::InitialiseVariables(), NavEKF3_core::InitialiseVariables(), NavEKF2_core::readIMUData(), and NavEKF3_core::readIMUData().

Here is the caller graph for this function:

◆ get_new_trim()

bool AP_InertialSensor::get_new_trim	(	float &	trim_roll,
		float &	trim_pitch
	)

Definition at line 1760 of file AP_InertialSensor.cpp.

Referenced by get_acal().

Here is the caller graph for this function:

◆ get_primary_accel()

uint8_t AP_InertialSensor::get_primary_accel ( void ) const

inline

Definition at line 203 of file AP_InertialSensor.h.

Referenced by AP_AHRS_DCM::drift_correction(), AP_AHRS::get_primary_accel_index(), AP_AHRS_NavEKF::get_primary_accel_index(), AP_AHRS_NavEKF::get_primary_IMU_index(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), AP_AHRS_NavEKF::update_EKF2(), and AP_AHRS_NavEKF::update_EKF3().

Here is the caller graph for this function:

◆ get_primary_accel_cal_sample_avg()

bool AP_InertialSensor::get_primary_accel_cal_sample_avg	(	uint8_t	sample_num,
		Vector3f &	ret
	)		const

Definition at line 1791 of file AP_InertialSensor.cpp.

Referenced by _acal_save_calibrations(), and get_acal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_primary_gyro()

uint8_t AP_InertialSensor::get_primary_gyro ( void ) const

inline

Definition at line 204 of file AP_InertialSensor.h.

Referenced by AP_AHRS::get_primary_gyro_index(), AP_AHRS_NavEKF::get_primary_gyro_index(), NavEKF2_core::readIMUData(), and NavEKF3_core::readIMUData().

Here is the caller graph for this function:

◆ get_sample_rate()

uint16_t AP_InertialSensor::get_sample_rate ( void ) const

inline

Definition at line 196 of file AP_InertialSensor.h.

Referenced by calibrate_trim(), NavEKF3::InitialiseFilter(), NavEKF2::InitialiseFilter(), and NavEKF3_core::setup_core().

Here is the caller graph for this function:

◆ get_temperature()

float AP_InertialSensor::get_temperature ( uint8_t instance ) const

inline

Definition at line 169 of file AP_InertialSensor.h.

Referenced by DataFlash_Class::Log_Write_IMU_instance(), and run_test().

Here is the caller graph for this function:

◆ get_vibration_levels() [1/2]

Vector3f AP_InertialSensor::get_vibration_levels ( ) const

inline

Definition at line 222 of file AP_InertialSensor.h.

Referenced by get_vibration_levels(), is_still(), DataFlash_Class::Log_Write_Vibration(), and GCS_MAVLINK::send_vibration().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_vibration_levels() [2/2]

Vector3f AP_InertialSensor::get_vibration_levels ( uint8_t instance ) const

Definition at line 1634 of file AP_InertialSensor.cpp.

Here is the call graph for this function:

◆ gyro_calibrated_ok()

bool AP_InertialSensor::gyro_calibrated_ok ( uint8_t instance ) const

inline

Definition at line 135 of file AP_InertialSensor.h.

Referenced by gyro_calibrated_ok_all().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ gyro_calibrated_ok_all()

bool AP_InertialSensor::gyro_calibrated_ok_all ( ) const

Definition at line 928 of file AP_InertialSensor.cpp.

Referenced by gyro_calibrated_ok(), and AP_Arming::ins_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ gyro_calibration_timing()

Gyro_Calibration_Timing AP_InertialSensor::gyro_calibration_timing ( )

inline

Definition at line 138 of file AP_InertialSensor.h.

Referenced by init().

Here is the caller graph for this function:

◆ healthy()

bool AP_InertialSensor::healthy ( void ) const

inline

Definition at line 201 of file AP_InertialSensor.h.

Referenced by AP_AHRS_DCM::drift_correction().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init()

void AP_InertialSensor::init ( uint16_t sample_rate_hz )

Perform startup initialisation.

Called to initialise the state of the IMU.

Gyros will be calibrated unless INS_GYRO_CAL is zero

Parameters

style The initialisation startup style.

Definition at line 609 of file AP_InertialSensor.cpp.

Referenced by setup(), and SchedTest::setup().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init_gyro()

void AP_InertialSensor::init_gyro ( void )

Perform cold-start initialisation for just the gyros.

Note: This should not be called unless init has previously been called, as init may perform other work

Definition at line 898 of file AP_InertialSensor.cpp.

Referenced by GCS_MAVLINK::calibrate_gyros(), calibrating(), and init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ is_still()

bool AP_InertialSensor::is_still ( )

Definition at line 1647 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels(), and AP_TempCalibration::learn_calibration().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ operator=()

AP_InertialSensor& AP_InertialSensor::operator= ( const AP_InertialSensor & )

delete

◆ periodic()

void AP_InertialSensor::periodic ( )

Definition at line 871 of file AP_InertialSensor.cpp.

Here is the call graph for this function:

◆ register_accel()

uint8_t AP_InertialSensor::register_accel	(	uint16_t	raw_sample_rate_hz,
		uint32_t	id
	)

Definition at line 524 of file AP_InertialSensor.cpp.

Referenced by AP_InertialSensor_HIL::_init_sensor(), AP_InertialSensor_PX4::_init_sensor(), AP_InertialSensor_SITL::init_sensor(), AP_InertialSensor_LSM9DS0::start(), AP_InertialSensor_LSM9DS1::start(), AP_InertialSensor_L3G4200D::start(), AP_InertialSensor_BMI160::start(), AP_InertialSensor_RST::start(), and AP_InertialSensor_Invensense::start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ register_gyro()

uint8_t AP_InertialSensor::register_gyro	(	uint16_t	raw_sample_rate_hz,
		uint32_t	id
	)

Register a new gyro/accel driver, allocating an instance number

Definition at line 490 of file AP_InertialSensor.cpp.

Referenced by AP_InertialSensor_HIL::_init_sensor(), AP_InertialSensor_PX4::_init_sensor(), AP_InertialSensor_SITL::init_sensor(), AP_InertialSensor_LSM9DS0::start(), AP_InertialSensor_LSM9DS1::start(), AP_InertialSensor_L3G4200D::start(), AP_InertialSensor_BMI160::start(), AP_InertialSensor_RST::start(), and AP_InertialSensor_Invensense::start().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_accel()

void AP_InertialSensor::set_accel	(	uint8_t	instance,
		const Vector3f &	accel
	)

Definition at line 1508 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels().

Here is the caller graph for this function:

◆ set_accel_peak_hold()

void AP_InertialSensor::set_accel_peak_hold	(	uint8_t	instance,
		const Vector3f &	accel
	)

Definition at line 1617 of file AP_InertialSensor.cpp.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), and get_auxiliary_bus().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_board_orientation()

void AP_InertialSensor::set_board_orientation	(	enum Rotation	orientation,
		Matrix3f *	custom_rotation = `nullptr`
	)

inline

Definition at line 190 of file AP_InertialSensor.h.

Referenced by AP_AHRS::set_orientation().

Here is the caller graph for this function:

◆ set_delta_angle()

void AP_InertialSensor::set_delta_angle	(	uint8_t	instance,
		const Vector3f &	deltaa,
		float	deltaat
	)

Definition at line 1568 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels().

Here is the caller graph for this function:

◆ set_delta_time()

void AP_InertialSensor::set_delta_time ( float delta_time )

Definition at line 1548 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels().

Here is the caller graph for this function:

◆ set_delta_velocity()

void AP_InertialSensor::set_delta_velocity	(	uint8_t	instance,
		float	deltavt,
		const Vector3f &	deltav
	)

Definition at line 1556 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels().

Here is the caller graph for this function:

◆ set_gyro()

void AP_InertialSensor::set_gyro	(	uint8_t	instance,
		const Vector3f &	gyro
	)

Definition at line 1526 of file AP_InertialSensor.cpp.

Referenced by get_vibration_levels().

Here is the caller graph for this function:

◆ set_hil_mode()

void AP_InertialSensor::set_hil_mode ( void )

inline

Definition at line 207 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_HIL::_init_sensor().

Here is the caller graph for this function:

◆ set_log_raw_bit()

void AP_InertialSensor::set_log_raw_bit ( uint32_t log_raw_bit )

inline

Definition at line 216 of file AP_InertialSensor.h.

Here is the call graph for this function:

◆ simple_accel_cal()

MAV_RESULT AP_InertialSensor::simple_accel_cal ( )

Definition at line 1820 of file AP_InertialSensor.cpp.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration(), and get_acal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update()

void AP_InertialSensor::update ( void )

Definition at line 1233 of file AP_InertialSensor.cpp.

Referenced by _init_gyro(), calibrate_trim(), get_gyro_drift_rate(), SchedTest::ins_update(), AP_AHRS_DCM::reset(), run_test(), simple_accel_cal(), and AP_AHRS_DCM::update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ use_accel()

bool AP_InertialSensor::use_accel ( uint8_t instance ) const

Definition at line 1068 of file AP_InertialSensor.cpp.

Referenced by AP_AHRS_DCM::drift_correction(), get_accel_count(), AP_Arming::ins_checks(), NavEKF2_core::readIMUData(), and NavEKF3_core::readIMUData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ use_gyro()

bool AP_InertialSensor::use_gyro ( uint8_t instance ) const

Definition at line 945 of file AP_InertialSensor.cpp.

Referenced by gyro_calibrated_ok(), AP_Arming::ins_checks(), DataFlash_Class::Log_Write_IMUDT(), NavEKF2_core::readIMUData(), and NavEKF3_core::readIMUData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ wait_for_sample()

void AP_InertialSensor::wait_for_sample ( void )

Definition at line 1343 of file AP_InertialSensor.cpp.

Referenced by calibrate_trim(), get_gyro_drift_rate(), AP_Scheduler::loop(), AP_AHRS_DCM::reset(), run_test(), and update().

Here is the call graph for this function:

Here is the caller graph for this function:

Friends And Related Function Documentation

◆ AP_InertialSensor_Backend

friend class AP_InertialSensor_Backend

friend

Definition at line 49 of file AP_InertialSensor.h.

Member Data Documentation

◆ _acal

AP_AccelCal* AP_InertialSensor::_acal

private

Definition at line 560 of file AP_InertialSensor.h.

Referenced by acal_init(), acal_update(), and get_acal().

◆ _acc_body_aligned

AP_Int8 AP_InertialSensor::_acc_body_aligned

private

Definition at line 556 of file AP_InertialSensor.h.

Referenced by get_fixed_mount_accel_cal_sample().

◆ _accel

Vector3f AP_InertialSensor::_accel[INS_MAX_INSTANCES]

private

Definition at line 388 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_accel(), get_accel(), and set_accel().

◆ _accel_cal_requires_reboot

bool AP_InertialSensor::_accel_cal_requires_reboot

private

Definition at line 575 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), and accel_cal_requires_reboot().

◆ _accel_calibrator

AccelCalibrator* AP_InertialSensor::_accel_calibrator

private

Definition at line 562 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), AP_InertialSensor_Backend::_publish_accel(), acal_init(), get_fixed_mount_accel_cal_sample(), and get_primary_accel_cal_sample_avg().

◆ _accel_clip_count

uint32_t AP_InertialSensor::_accel_clip_count[INS_MAX_INSTANCES]

private

Definition at line 535 of file AP_InertialSensor.h.

Referenced by calc_vibration_and_clipping(), get_accel_clip_count(), and AP_InertialSensor_Backend::increment_clip_count().

◆ _accel_count

uint8_t AP_InertialSensor::_accel_count

private

Definition at line 379 of file AP_InertialSensor.h.

Referenced by _acal_event_failure(), _acal_save_calibrations(), _start_backends(), get_accel_count(), get_accel_health(), get_fixed_mount_accel_cal_sample(), get_primary_accel_cal_sample_avg(), init(), register_accel(), AP_InertialSensor::BatchSampler::rotate_to_next_sensor(), and set_accel().

◆ _accel_error_count

uint32_t AP_InertialSensor::_accel_error_count[INS_MAX_INSTANCES]

private

Definition at line 531 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_inc_accel_error_count(), AP_InertialSensor_Backend::_set_accel_error_count(), get_accel_error_count(), and update().

◆ _accel_filter

LowPassFilter2pVector3f AP_InertialSensor::_accel_filter[INS_MAX_INSTANCES]

private

Definition at line 398 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), and AP_InertialSensor_Backend::update_accel().

◆ _accel_filter_cutoff

AP_Int8 AP_InertialSensor::_accel_filter_cutoff

private

Definition at line 469 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_accel_filter_cutoff(), and get_accel_filter_hz().

◆ _accel_filtered

Vector3f AP_InertialSensor::_accel_filtered[INS_MAX_INSTANCES]

private

Definition at line 400 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), and AP_InertialSensor_Backend::update_accel().

◆ _accel_healthy

bool AP_InertialSensor::_accel_healthy[INS_MAX_INSTANCES]

private

Definition at line 529 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_accel(), get_accel_health(), set_accel(), set_gyro(), and update().

◆ _accel_id

AP_Int32 AP_InertialSensor::_accel_id[INS_MAX_INSTANCES]

private

Definition at line 432 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), _start_backends(), accel_calibrated_ok_all(), register_accel(), and simple_accel_cal().

◆ _accel_id_ok

bool AP_InertialSensor::_accel_id_ok[INS_MAX_INSTANCES]

private

Definition at line 492 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), accel_calibrated_ok_all(), register_accel(), and simple_accel_cal().

◆ _accel_last_sample_us

uint64_t AP_InertialSensor::_accel_last_sample_us[INS_MAX_INSTANCES]

private

Definition at line 456 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample().

◆ _accel_max_abs_offsets

float AP_InertialSensor::_accel_max_abs_offsets[INS_MAX_INSTANCES]

private

Definition at line 444 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_accel_max_abs_offset(), and AP_InertialSensor().

◆ _accel_offset

AP_Vector3f AP_InertialSensor::_accel_offset[INS_MAX_INSTANCES]

private

Definition at line 437 of file AP_InertialSensor.h.

Referenced by _acal_event_failure(), _acal_save_calibrations(), AP_InertialSensor_Backend::_publish_accel(), AP_InertialSensor_Backend::_rotate_and_correct_accel(), accel_calibrated_ok_all(), get_accel_offsets(), and simple_accel_cal().

◆ _accel_orientation

enum Rotation AP_InertialSensor::_accel_orientation[INS_MAX_INSTANCES]

private

Definition at line 488 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_rotate_and_correct_accel(), and AP_InertialSensor_Backend::set_accel_orientation().

◆ _accel_over_sampling

uint8_t AP_InertialSensor::_accel_over_sampling[INS_MAX_INSTANCES]

private

Definition at line 451 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_accel_oversampling(), get_accel_rate_hz(), AP_InertialSensor::BatchSampler::push_data_to_log(), and register_accel().

◆ _accel_pos

AP_Vector3f AP_InertialSensor::_accel_pos[INS_MAX_INSTANCES]

private

Definition at line 441 of file AP_InertialSensor.h.

Referenced by get_imu_pos_offset().

◆ _accel_raw_sample_rates

float AP_InertialSensor::_accel_raw_sample_rates[INS_MAX_INSTANCES]

private

Definition at line 447 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_accel_raw_sample_rate(), AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), AP_InertialSensor_Backend::_set_accel_raw_sample_rate(), get_accel_rate_hz(), AP_InertialSensor::BatchSampler::push_data_to_log(), and register_accel().

◆ _accel_raw_sampling_multiplier

uint16_t AP_InertialSensor::_accel_raw_sampling_multiplier[INS_MAX_INSTANCES]

private

Definition at line 424 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_raw_sample_accel_multiplier(), register_accel(), and AP_InertialSensor::BatchSampler::rotate_to_next_sensor().

◆ _accel_scale

AP_Vector3f AP_InertialSensor::_accel_scale[INS_MAX_INSTANCES]

private

Definition at line 436 of file AP_InertialSensor.h.

Referenced by _acal_event_failure(), _acal_save_calibrations(), AP_InertialSensor_Backend::_publish_accel(), AP_InertialSensor_Backend::_rotate_and_correct_accel(), accel_calibrated_ok_all(), get_accel_scale(), init(), and simple_accel_cal().

◆ _accel_sensor_rate_sampling_enabled

uint8_t AP_InertialSensor::_accel_sensor_rate_sampling_enabled

private

Definition at line 420 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_accel_sensor_rate_sampling_enabled(), and AP_InertialSensor::BatchSampler::update_doing_sensor_rate_logging().

◆ _accel_startup_error_count

uint32_t AP_InertialSensor::_accel_startup_error_count[INS_MAX_INSTANCES]

private

Definition at line 578 of file AP_InertialSensor.h.

Referenced by update().

◆ _accel_vibe_filter

LowPassFilterVector3f AP_InertialSensor::_accel_vibe_filter[INS_VIBRATION_CHECK_INSTANCES]

private

Definition at line 537 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor(), calc_vibration_and_clipping(), and get_vibration_levels().

◆ _accel_vibe_floor_filter

LowPassFilterVector3f AP_InertialSensor::_accel_vibe_floor_filter[INS_VIBRATION_CHECK_INSTANCES]

private

Definition at line 536 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor(), and calc_vibration_and_clipping().

◆ _backend_count

uint8_t AP_InertialSensor::_backend_count

private

Definition at line 380 of file AP_InertialSensor.h.

Referenced by _add_backend(), _find_backend(), _start_backends(), detect_backends(), update(), and wait_for_sample().

◆ _backends

AP_InertialSensor_Backend* AP_InertialSensor::_backends[INS_MAX_BACKENDS]

private

Definition at line 373 of file AP_InertialSensor.h.

Referenced by _add_backend(), _find_backend(), _start_backends(), update(), and wait_for_sample().

◆ _backends_detected

bool AP_InertialSensor::_backends_detected

private

Definition at line 510 of file AP_InertialSensor.h.

Referenced by _find_backend(), and detect_backends().

◆ _board_orientation

enum Rotation AP_InertialSensor::_board_orientation

private

Definition at line 483 of file AP_InertialSensor.h.

Referenced by _init_gyro(), AP_InertialSensor_Backend::_publish_accel(), AP_InertialSensor_Backend::_rotate_and_correct_accel(), AP_InertialSensor_Backend::_rotate_and_correct_gyro(), get_fixed_mount_accel_cal_sample(), get_primary_accel_cal_sample_avg(), set_board_orientation(), and simple_accel_cal().

◆ _calibrating

bool AP_InertialSensor::_calibrating

private

Definition at line 508 of file AP_InertialSensor.h.

Referenced by _init_gyro(), calibrate_trim(), calibrating(), and simple_accel_cal().

◆ _custom_rotation

Matrix3f* AP_InertialSensor::_custom_rotation

private

Definition at line 484 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_rotate_and_correct_accel(), AP_InertialSensor_Backend::_rotate_and_correct_gyro(), get_fixed_mount_accel_cal_sample(), get_primary_accel_cal_sample_avg(), and set_board_orientation().

◆ _delta_angle

Vector3f AP_InertialSensor::_delta_angle[INS_MAX_INSTANCES]

private

Definition at line 410 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_gyro(), get_delta_angle(), and set_delta_angle().

◆ _delta_angle_acc

Vector3f AP_InertialSensor::_delta_angle_acc[INS_MAX_INSTANCES]

private

Definition at line 415 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), AP_InertialSensor_Backend::_publish_gyro(), and update().

◆ _delta_angle_acc_dt

float AP_InertialSensor::_delta_angle_acc_dt[INS_MAX_INSTANCES]

private

Definition at line 414 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), AP_InertialSensor_Backend::_publish_gyro(), and update().

◆ _delta_angle_dt

float AP_InertialSensor::_delta_angle_dt[INS_MAX_INSTANCES]

private

Definition at line 411 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_gyro(), get_delta_angle_dt(), and set_delta_angle().

◆ _delta_angle_valid

bool AP_InertialSensor::_delta_angle_valid[INS_MAX_INSTANCES]

private

Definition at line 412 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_gyro(), get_delta_angle(), get_delta_angle_dt(), set_delta_angle(), and update().

◆ _delta_time

float AP_InertialSensor::_delta_time

private

Definition at line 513 of file AP_InertialSensor.h.

Referenced by get_delta_time(), init(), and wait_for_sample().

◆ _delta_velocity

Vector3f AP_InertialSensor::_delta_velocity[INS_MAX_INSTANCES]

private

Definition at line 389 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_accel(), get_delta_velocity(), and set_delta_velocity().

◆ _delta_velocity_acc

Vector3f AP_InertialSensor::_delta_velocity_acc[INS_MAX_INSTANCES]

private

Definition at line 393 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), AP_InertialSensor_Backend::_publish_accel(), and update().

◆ _delta_velocity_acc_dt

float AP_InertialSensor::_delta_velocity_acc_dt[INS_MAX_INSTANCES]

private

Definition at line 395 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), AP_InertialSensor_Backend::_publish_accel(), and update().

◆ _delta_velocity_dt

float AP_InertialSensor::_delta_velocity_dt[INS_MAX_INSTANCES]

private

Definition at line 390 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_accel(), get_delta_velocity_dt(), and set_delta_velocity().

◆ _delta_velocity_valid

bool AP_InertialSensor::_delta_velocity_valid[INS_MAX_INSTANCES]

private

Definition at line 391 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_accel(), get_delta_velocity(), get_delta_velocity_dt(), set_delta_velocity(), and update().

◆ _enable_mask

AP_Int8 AP_InertialSensor::_enable_mask

private

Definition at line 480 of file AP_InertialSensor.h.

Referenced by detect_backends().

◆ _fast_sampling_mask

AP_Int8 AP_InertialSensor::_fast_sampling_mask

private

Definition at line 477 of file AP_InertialSensor.h.

Referenced by detect_backends(), and AP_InertialSensor_Backend::enable_fast_sampling().

◆ _gyro

Vector3f AP_InertialSensor::_gyro[INS_MAX_INSTANCES]

private

Definition at line 409 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_gyro(), get_gyro(), set_gyro(), and update().

◆ _gyro_cal_ok

bool AP_InertialSensor::_gyro_cal_ok[INS_MAX_INSTANCES]

private

Definition at line 491 of file AP_InertialSensor.h.

Referenced by _init_gyro(), AP_InertialSensor(), gyro_calibrated_ok(), register_gyro(), and set_gyro().

◆ _gyro_cal_timing

AP_Int8 AP_InertialSensor::_gyro_cal_timing

private

Definition at line 471 of file AP_InertialSensor.h.

Referenced by gyro_calibration_timing().

◆ _gyro_count

uint8_t AP_InertialSensor::_gyro_count

private

Definition at line 378 of file AP_InertialSensor.h.

Referenced by _save_gyro_calibration(), _start_backends(), get_gyro_count(), get_gyro_health(), init(), register_gyro(), AP_InertialSensor::BatchSampler::rotate_to_next_sensor(), and set_gyro().

◆ _gyro_error_count

uint32_t AP_InertialSensor::_gyro_error_count[INS_MAX_INSTANCES]

private

Definition at line 532 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_inc_gyro_error_count(), AP_InertialSensor_Backend::_set_gyro_error_count(), get_gyro_error_count(), and update().

◆ _gyro_filter

LowPassFilter2pVector3f AP_InertialSensor::_gyro_filter[INS_MAX_INSTANCES]

private

Definition at line 399 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), and AP_InertialSensor_Backend::update_gyro().

◆ _gyro_filter_cutoff

AP_Int8 AP_InertialSensor::_gyro_filter_cutoff

private

Definition at line 470 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_gyro_filter_cutoff(), and get_gyro_filter_hz().

◆ _gyro_filtered

Vector3f AP_InertialSensor::_gyro_filtered[INS_MAX_INSTANCES]

private

Definition at line 401 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), and AP_InertialSensor_Backend::update_gyro().

◆ _gyro_healthy

bool AP_InertialSensor::_gyro_healthy[INS_MAX_INSTANCES]

private

Definition at line 528 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_gyro(), get_gyro_health(), set_gyro(), and update().

◆ _gyro_id

AP_Int32 AP_InertialSensor::_gyro_id[INS_MAX_INSTANCES]

private

Definition at line 433 of file AP_InertialSensor.h.

Referenced by _save_gyro_calibration(), _start_backends(), gyro_calibrated_ok_all(), and register_gyro().

◆ _gyro_last_sample_us

uint64_t AP_InertialSensor::_gyro_last_sample_us[INS_MAX_INSTANCES]

private

Definition at line 457 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample().

◆ _gyro_offset

AP_Vector3f AP_InertialSensor::_gyro_offset[INS_MAX_INSTANCES]

private

Definition at line 438 of file AP_InertialSensor.h.

Referenced by _init_gyro(), AP_InertialSensor_Backend::_rotate_and_correct_gyro(), _save_gyro_calibration(), and get_gyro_offsets().

◆ _gyro_orientation

enum Rotation AP_InertialSensor::_gyro_orientation[INS_MAX_INSTANCES]

private

Definition at line 487 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_rotate_and_correct_gyro(), and AP_InertialSensor_Backend::set_gyro_orientation().

◆ _gyro_over_sampling

uint8_t AP_InertialSensor::_gyro_over_sampling[INS_MAX_INSTANCES]

private

Definition at line 452 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_gyro_oversampling(), get_gyro_rate_hz(), AP_InertialSensor::BatchSampler::push_data_to_log(), and register_gyro().

◆ _gyro_raw_sample_rates

float AP_InertialSensor::_gyro_raw_sample_rates[INS_MAX_INSTANCES]

private

Definition at line 448 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_gyro_raw_sample_rate(), AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), AP_InertialSensor_Backend::_set_gyro_raw_sample_rate(), get_gyro_rate_hz(), AP_InertialSensor::BatchSampler::push_data_to_log(), and register_gyro().

◆ _gyro_raw_sampling_multiplier

uint16_t AP_InertialSensor::_gyro_raw_sampling_multiplier[INS_MAX_INSTANCES]

private

Definition at line 425 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_raw_sampl_gyro_multiplier(), register_gyro(), and AP_InertialSensor::BatchSampler::rotate_to_next_sensor().

◆ _gyro_sensor_rate_sampling_enabled

uint8_t AP_InertialSensor::_gyro_sensor_rate_sampling_enabled

private

Definition at line 421 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_set_gyro_sensor_rate_sampling_enabled(), and AP_InertialSensor::BatchSampler::update_doing_sensor_rate_logging().

◆ _gyro_startup_error_count

uint32_t AP_InertialSensor::_gyro_startup_error_count[INS_MAX_INSTANCES]

private

Definition at line 579 of file AP_InertialSensor.h.

Referenced by update().

◆ _have_sample

bool AP_InertialSensor::_have_sample

private

Definition at line 502 of file AP_InertialSensor.h.

Referenced by init(), update(), and wait_for_sample().

◆ _hil

struct { ... } AP_InertialSensor::_hil

Referenced by set_delta_time(), and wait_for_sample().

◆ _hil_mode

bool AP_InertialSensor::_hil_mode

private

Definition at line 505 of file AP_InertialSensor.h.

Referenced by accel_calibrated_ok_all(), detect_backends(), set_hil_mode(), update(), and wait_for_sample().

◆ _last_delta_angle

Vector3f AP_InertialSensor::_last_delta_angle[INS_MAX_INSTANCES]

private

Definition at line 416 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample().

◆ _last_raw_gyro

Vector3f AP_InertialSensor::_last_raw_gyro[INS_MAX_INSTANCES]

private

Definition at line 417 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample().

◆ _last_sample_usec

uint32_t AP_InertialSensor::_last_sample_usec

private

Definition at line 516 of file AP_InertialSensor.h.

Referenced by init(), and wait_for_sample().

◆ _last_update_usec

uint32_t AP_InertialSensor::_last_update_usec

private

Definition at line 525 of file AP_InertialSensor.h.

Referenced by get_last_update_usec(), and update().

◆ _log_raw_bit

uint32_t AP_InertialSensor::_log_raw_bit

private

Definition at line 499 of file AP_InertialSensor.h.

Referenced by set_log_raw_bit(), and AP_InertialSensor_Backend::should_log_imu_raw().

◆ _loop_delta_t

float AP_InertialSensor::_loop_delta_t

private

Definition at line 384 of file AP_InertialSensor.h.

Referenced by get_loop_delta_t(), and init().

◆ _loop_delta_t_max

float AP_InertialSensor::_loop_delta_t_max

private

Definition at line 385 of file AP_InertialSensor.h.

Referenced by get_delta_angle_dt(), get_delta_time(), get_delta_velocity_dt(), and init().

◆ _new_accel_data

bool AP_InertialSensor::_new_accel_data[INS_MAX_INSTANCES]

private

Definition at line 402 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), AP_InertialSensor_Backend::update_accel(), and wait_for_sample().

◆ _new_gyro_data

bool AP_InertialSensor::_new_gyro_data[INS_MAX_INSTANCES]

private

Definition at line 403 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), AP_InertialSensor_Backend::update_gyro(), and wait_for_sample().

◆ _new_trim

bool AP_InertialSensor::_new_trim

private

Definition at line 573 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), and get_new_trim().

◆ _next_sample_usec

uint32_t AP_InertialSensor::_next_sample_usec

private

Definition at line 519 of file AP_InertialSensor.h.

Referenced by init(), and wait_for_sample().

◆ _notch_filter

NotchFilterVector3fParam AP_InertialSensor::_notch_filter

private

Definition at line 406 of file AP_InertialSensor.h.

Referenced by init(), and update().

◆ _old_product_id

AP_Int16 AP_InertialSensor::_old_product_id

private

Definition at line 428 of file AP_InertialSensor.h.

◆ _peak_hold_state

struct AP_InertialSensor::PeakHoldState AP_InertialSensor::_peak_hold_state

private

Referenced by get_accel_peak_hold_neg_x(), and set_accel_peak_hold().

◆ _primary_accel

uint8_t AP_InertialSensor::_primary_accel

private

Definition at line 496 of file AP_InertialSensor.h.

Referenced by get_accel(), get_accel_health(), get_accel_offsets(), get_accel_scale(), get_delta_angle_dt(), get_delta_velocity(), get_delta_velocity_dt(), get_imu_pos_offset(), get_primary_accel(), get_vibration_levels(), set_accel(), set_accel_peak_hold(), set_gyro(), and update().

◆ _primary_gyro

uint8_t AP_InertialSensor::_primary_gyro

private

Definition at line 495 of file AP_InertialSensor.h.

Referenced by get_delta_angle(), get_gyro(), get_gyro_health(), get_gyro_offsets(), get_primary_gyro(), and update().

◆ _s_instance

AP_InertialSensor * AP_InertialSensor::_s_instance = nullptr

staticprivate

Definition at line 559 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor(), and get_instance().

◆ _sample_accel_count

uint16_t AP_InertialSensor::_sample_accel_count[INS_MAX_INSTANCES]

private

Definition at line 460 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), and AP_InertialSensor_Backend::notify_accel_fifo_reset().

◆ _sample_accel_start_us

uint32_t AP_InertialSensor::_sample_accel_start_us[INS_MAX_INSTANCES]

private

Definition at line 461 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_raw_sample(), and AP_InertialSensor_Backend::notify_accel_fifo_reset().

◆ _sample_gyro_count

uint16_t AP_InertialSensor::_sample_gyro_count[INS_MAX_INSTANCES]

private

Definition at line 462 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), and AP_InertialSensor_Backend::notify_gyro_fifo_reset().

◆ _sample_gyro_start_us

uint32_t AP_InertialSensor::_sample_gyro_start_us[INS_MAX_INSTANCES]

private

Definition at line 463 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(), and AP_InertialSensor_Backend::notify_gyro_fifo_reset().

◆ _sample_period_usec

uint32_t AP_InertialSensor::_sample_period_usec

private

Definition at line 522 of file AP_InertialSensor.h.

Referenced by init(), and wait_for_sample().

◆ _sample_rate

uint16_t AP_InertialSensor::_sample_rate

private

Definition at line 383 of file AP_InertialSensor.h.

Referenced by get_sample_rate(), AP_InertialSensor_Backend::get_sample_rate_hz(), and init().

◆ _startup_error_counts_set

bool AP_InertialSensor::_startup_error_counts_set

private

Definition at line 580 of file AP_InertialSensor.h.

Referenced by update().

◆ _startup_ms

uint32_t AP_InertialSensor::_startup_ms

private

Definition at line 581 of file AP_InertialSensor.h.

Referenced by update().

◆ _still_threshold

AP_Float AP_InertialSensor::_still_threshold

private

Definition at line 546 of file AP_InertialSensor.h.

Referenced by is_still().

◆ _temperature

float AP_InertialSensor::_temperature[INS_MAX_INSTANCES]

private

Definition at line 466 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_publish_temperature(), and get_temperature().

◆ _trim_option

AP_Int8 AP_InertialSensor::_trim_option

private

Definition at line 557 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations().

◆ _trim_pitch

float AP_InertialSensor::_trim_pitch

private

Definition at line 571 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), and get_new_trim().

◆ _trim_roll

float AP_InertialSensor::_trim_roll

private

Definition at line 572 of file AP_InertialSensor.h.

Referenced by _acal_save_calibrations(), and get_new_trim().

◆ _use

AP_Int8 AP_InertialSensor::_use[INS_MAX_INSTANCES]

private

Definition at line 474 of file AP_InertialSensor.h.

Referenced by update(), use_accel(), and use_gyro().

◆ batchsampler

BatchSampler AP_InertialSensor::batchsampler {*this}

Definition at line 352 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_sensor_rate_sample(), AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(), init(), AP_InertialSensor_Backend::log_accel_raw(), AP_InertialSensor_Backend::log_gyro_raw(), and periodic().

◆ delta_time

float AP_InertialSensor::delta_time

Definition at line 552 of file AP_InertialSensor.h.

Referenced by get_vibration_levels(), and set_delta_time().

◆ var_info

const AP_Param::GroupInfo AP_InertialSensor::var_info

static

Definition at line 187 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor().

The documentation for this class was generated from the following files:

libraries/AP_InertialSensor/AP_InertialSensor.h
libraries/AP_InertialSensor/AP_InertialSensor.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ Gyro_Calibration_Timing

◆ IMU_SENSOR_TYPE

Constructor & Destructor Documentation

◆ AP_InertialSensor() [1/2]

◆ AP_InertialSensor() [2/2]

Member Function Documentation

◆ _acal_event_failure()

◆ _acal_get_calibrator()

◆ _acal_save_calibrations()

◆ _add_backend()

◆ _calculate_trim()

◆ _find_backend()

◆ _init_gyro()

◆ _save_gyro_calibration()

◆ _start_backends()

◆ acal_init()

◆ acal_update()

◆ accel_cal_requires_reboot()

◆ accel_calibrated_ok_all()

◆ calc_vibration_and_clipping()

◆ calibrate_trim()

◆ calibrating()

◆ detect_backends()

◆ get_acal()

◆ get_accel() [1/2]

◆ get_accel() [2/2]

◆ get_accel_clip_count()

◆ get_accel_count()

◆ get_accel_error_count()

◆ get_accel_filter_hz()

◆ get_accel_health() [1/2]

◆ get_accel_health() [2/2]

◆ get_accel_health_all()

◆ get_accel_offsets() [1/2]

◆ get_accel_offsets() [2/2]

◆ get_accel_peak_hold_neg_x()

◆ get_accel_rate_hz()

◆ get_accel_scale() [1/2]

◆ get_accel_scale() [2/2]

◆ get_auxiliary_bus() [1/2]

◆ get_auxiliary_bus() [2/2]

◆ get_delta_angle() [1/2]

◆ get_delta_angle() [2/2]

◆ get_delta_angle_dt() [1/2]

◆ get_delta_angle_dt() [2/2]

◆ get_delta_time()

◆ get_delta_velocity() [1/2]

◆ get_delta_velocity() [2/2]

◆ get_delta_velocity_dt() [1/2]

◆ get_delta_velocity_dt() [2/2]

◆ get_fixed_mount_accel_cal_sample()

◆ get_gyro() [1/2]

◆ get_gyro() [2/2]

◆ get_gyro_count()

◆ get_gyro_drift_rate()

◆ get_gyro_error_count()

◆ get_gyro_filter_hz()

◆ get_gyro_health() [1/2]

◆ get_gyro_health() [2/2]

◆ get_gyro_health_all()

◆ get_gyro_offsets() [1/2]

◆ get_gyro_offsets() [2/2]

◆ get_gyro_rate_hz()

◆ get_imu_pos_offset() [1/2]

◆ get_imu_pos_offset() [2/2]

◆ get_instance()

◆ get_last_update_usec()

◆ get_loop_delta_t()