IMU Fusion
IMU - Inertial Measurement Unit

Description

IMU fusion driver.

Data Structures

struct sl_imu_sensor_fusion
Structure to store the sensor fusion data.

Functions

void sl_imu_fuse_accelerometer_set_sample_rate (sl_imu_sensor_fusion_t *f, float rate)
Set the accelerometer sample rate in the sl_imu_sensor_fusion_t structure.
void sl_imu_fuse_accelerometer_update_filter (sl_imu_sensor_fusion_t *f, float avec[3])
Add the current accelerometer data to the accumulator.
void sl_imu_fuse_gyro_set_sample_rate (sl_imu_sensor_fusion_t *f, float rate)
Set the gyro sample rate and related values in the sl_imu_sensor_fusion_t structure.
void sl_imu_fuse_gyro_update (sl_imu_sensor_fusion_t *f, float gvec[3])
Update the fusion calculation with a new gyro data.
void sl_imu_fuse_gyro_clear_correction_vector (sl_imu_sensor_fusion_t *f)
Clear the gyro correction vector.
void sl_imu_fuse_gyro_calculate_correction_vector (sl_imu_sensor_fusion_t *f, bool accValid, bool dirValid, float dirZ)
Calculate the gyro correction vector.
void sl_imu_fuse_new (sl_imu_sensor_fusion_t *f)
Initialize a new sl_imu_sensor_fusion_t structure.
void sl_imu_fuse_reset (sl_imu_sensor_fusion_t *f)
Clear the values of the sensor fusion object.
void sl_imu_fuse_update (sl_imu_sensor_fusion_t *f)
Update the fusion calculation.

Function Documentation

◆ sl_imu_fuse_accelerometer_set_sample_rate()

void sl_imu_fuse_accelerometer_set_sample_rate ( sl_imu_sensor_fusion_t * f,
float rate
)

Set the accelerometer sample rate in the sl_imu_sensor_fusion_t structure.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object
[in] rate Sample rate of the accelerometer

◆ sl_imu_fuse_accelerometer_update_filter()

void sl_imu_fuse_accelerometer_update_filter ( sl_imu_sensor_fusion_t * f,
float avec[3]
)

Add the current accelerometer data to the accumulator.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object
[in] avec Accelerometer vector

◆ sl_imu_fuse_gyro_set_sample_rate()

void sl_imu_fuse_gyro_set_sample_rate ( sl_imu_sensor_fusion_t * f,
float rate
)

Set the gyro sample rate and related values in the sl_imu_sensor_fusion_t structure.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object
[in] rate Sample rate of the gyroscope

◆ sl_imu_fuse_gyro_update()

void sl_imu_fuse_gyro_update ( sl_imu_sensor_fusion_t * f,
float gvec[3]
)

Update the fusion calculation with a new gyro data.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object
[in] gvec Gyroscope vector

◆ sl_imu_fuse_gyro_clear_correction_vector()

void sl_imu_fuse_gyro_clear_correction_vector ( sl_imu_sensor_fusion_t * f )

Clear the gyro correction vector.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object

◆ sl_imu_fuse_gyro_calculate_correction_vector()

void sl_imu_fuse_gyro_calculate_correction_vector ( sl_imu_sensor_fusion_t * f,
bool accValid,
bool dirValid,
float dirZ
)

Calculate the gyro correction vector.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object
[in] accValid True if the acceleration value is within limits
[in] dirValid True if the direction value is valid
[in] dirZ The direction of the Z axis

◆ sl_imu_fuse_new()

void sl_imu_fuse_new ( sl_imu_sensor_fusion_t * f )

Initialize a new sl_imu_sensor_fusion_t structure.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object to be initialized

◆ sl_imu_fuse_reset()

void sl_imu_fuse_reset ( sl_imu_sensor_fusion_t * f )

Clear the values of the sensor fusion object.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object

◆ sl_imu_fuse_update()

void sl_imu_fuse_update ( sl_imu_sensor_fusion_t * f )

Update the fusion calculation.

Parameters
[in,out] f Pointer to the sl_imu_sensor_fusion_t object