You are viewing documentation for version: 4.2 (latest) | Version History
IMU fusion driver.
◆ 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 |