Support sending raw IMU data to a UART #13961
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
This looks like cooked data? |
It is loop rate data, not filtered, same data the EKF gets, which is exactly what we want, as we're running an external state estimator |
|
@tridge my point is that we use the word "raw" to mean something different in the IMU code. Perhaps |
tridge
force-pushed
the
pr-imu-uart
branch
2 times, most recently
from
63d2fb1 to
7638feb
Compare
|
My "raw" vs "cooked" thing has been addressed. Needs a rebase, 'though. Almost certainly the serial protocol number's been used. |
magicrub
reviewed
Jul 31, 2020
| @@ -482,6 +483,16 @@ void AP_SerialManager::init() | |||
| state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); | |||
| break; | |||
|
|
|||
| case SerialProtocol_IMUOUT: | |||
| #if !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH) | |||
There was a problem hiding this comment.
Why is this !defined(HAL_BUILD_AP_PERIPH)?
tridge
force-pushed
the
pr-imu-uart
branch
2 times, most recently
from
55b2cb2 to
4bb13e4
Compare
|
rebased |
|
@peterbarker it is unfiltered |
# Conflicts: # libraries/AP_SerialManager/AP_SerialManager.cpp # libraries/AP_SerialManager/AP_SerialManager.h
this is for supporting external visual odomotry systems which need the IMU data to correctly process image data # Conflicts: # libraries/AP_InertialSensor/AP_InertialSensor.cpp
peterbarker
approved these changes
Nov 29, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This allows unfiltered IMU data to be sent at the main loop rate to a UART. This is for supporting external visual odomotry systems that need to augment image data with the autopilots IMU data
was used for this ANU research project: https://github.com/STR-ANU/eqf_vio