Structure to store the sensor fusion data.

Public Attributes#

float
dcm

Direction Cosine Matrix

float
aVector

Acceleration vector

float
aAccumulator

Accumulator for acceleration vector

uint32_t
aAccumulatorCount

Number of vectors stored in the accumulator

float
aSampleRate

Acceleration measurement sample rate

float
gVector

Gyro vector

float
gSampleRate

Gyroscope measurement sample rate

float
gDeltaTime

Time between gyro samples

float
gDeltaTimeScale

Rotation between gyro samples

float
angleCorrection

Angle correction vector

float
orientation

Orientation vector

Public Attribute Documentation#

dcm#

float sl_imu_sensor_fusion_t::dcm[3][3]

Direction Cosine Matrix


Definition at line 117 of file hardware/driver/imu/inc/sl_imu.h

aVector#

float sl_imu_sensor_fusion_t::aVector[3]

Acceleration vector


Definition at line 120 of file hardware/driver/imu/inc/sl_imu.h

aAccumulator#

float sl_imu_sensor_fusion_t::aAccumulator[3]

Accumulator for acceleration vector


Definition at line 121 of file hardware/driver/imu/inc/sl_imu.h

aAccumulatorCount#

uint32_t sl_imu_sensor_fusion_t::aAccumulatorCount

Number of vectors stored in the accumulator


Definition at line 122 of file hardware/driver/imu/inc/sl_imu.h

aSampleRate#

float sl_imu_sensor_fusion_t::aSampleRate

Acceleration measurement sample rate


Definition at line 123 of file hardware/driver/imu/inc/sl_imu.h

gVector#

float sl_imu_sensor_fusion_t::gVector[3]

Gyro vector


Definition at line 126 of file hardware/driver/imu/inc/sl_imu.h

gSampleRate#

float sl_imu_sensor_fusion_t::gSampleRate

Gyroscope measurement sample rate


Definition at line 127 of file hardware/driver/imu/inc/sl_imu.h

gDeltaTime#

float sl_imu_sensor_fusion_t::gDeltaTime

Time between gyro samples


Definition at line 128 of file hardware/driver/imu/inc/sl_imu.h

gDeltaTimeScale#

float sl_imu_sensor_fusion_t::gDeltaTimeScale

Rotation between gyro samples


Definition at line 129 of file hardware/driver/imu/inc/sl_imu.h

angleCorrection#

float sl_imu_sensor_fusion_t::angleCorrection[3]

Angle correction vector


Definition at line 132 of file hardware/driver/imu/inc/sl_imu.h

orientation#

float sl_imu_sensor_fusion_t::orientation[3]

Orientation vector


Definition at line 133 of file hardware/driver/imu/inc/sl_imu.h