_IMU_SensorFusion Struct ReferenceBSP > Thunderboard Sense BSP > IMU - Inertial Measurement Unit

Structure to store the sensor fusion data.

Definition at line 66 of file imu.h.

#include <imu.h>

Data Fields

float aAccumulator [3]
 
uint32_t aAccumulatorCount
 
float angleCorrection [3]
 
float aSampleRate
 
float aVector [3]
 
float dcm [3][3]
 
float gDeltaTime
 
float gDeltaTimeScale
 
float gSampleRate
 
float gVector [3]
 
float orientation [3]
 

Field Documentation

float _IMU_SensorFusion::aAccumulator[3]

Accumulator for acceleration vector

Definition at line 72 of file imu.h.

Referenced by IMU_accelerationGet(), IMU_fuseAccelerometerUpdateFilter(), IMU_fuseNew(), and IMU_fuseReset().

uint32_t _IMU_SensorFusion::aAccumulatorCount

Number of vectors stored in the accumulator

Definition at line 73 of file imu.h.

Referenced by IMU_accelerationGet(), IMU_fuseAccelerometerUpdateFilter(), IMU_fuseNew(), and IMU_fuseReset().

float _IMU_SensorFusion::angleCorrection[3]

Angle correction vector

Definition at line 83 of file imu.h.

Referenced by IMU_fuseGyroCorrection(), IMU_fuseGyroCorrectionClear(), IMU_fuseGyroUpdate(), IMU_fuseNew(), IMU_fuseReset(), and IMU_getGyroCorrectionAngles().

float _IMU_SensorFusion::aSampleRate

Acceleration measurement sample rate

Definition at line 74 of file imu.h.

Referenced by IMU_fuseNew().

float _IMU_SensorFusion::aVector[3]

Acceleration vector

Definition at line 71 of file imu.h.

Referenced by IMU_fuseGyroCorrection(), IMU_fuseNew(), IMU_fuseReset(), and IMU_fuseUpdate().

float _IMU_SensorFusion::dcm[3][3]

Direction Cosine Matrix

Definition at line 68 of file imu.h.

Referenced by IMU_fuseGyroUpdate(), IMU_fuseNew(), and IMU_fuseReset().

float _IMU_SensorFusion::gDeltaTime

Time between gyro samples

Definition at line 79 of file imu.h.

Referenced by IMU_fuseGyroSetSampleRate(), and IMU_fuseNew().

float _IMU_SensorFusion::gDeltaTimeScale

Rotation between gyro samples

Definition at line 80 of file imu.h.

Referenced by IMU_fuseGyroSetSampleRate(), and IMU_fuseGyroUpdate().

float _IMU_SensorFusion::gSampleRate

Gyroscope measurement sample rate

Definition at line 78 of file imu.h.

Referenced by IMU_fuseAccelerometerSetSampleRate(), IMU_fuseGyroCorrection(), IMU_fuseGyroSetSampleRate(), and IMU_fuseNew().

float _IMU_SensorFusion::gVector[3]

Gyro vector

Definition at line 77 of file imu.h.

Referenced by IMU_fuseNew(), IMU_fuseReset(), IMU_fuseUpdate(), and IMU_gyroGet().

float _IMU_SensorFusion::orientation[3]

Orientation vector

Definition at line 84 of file imu.h.

Referenced by IMU_fuseGyroCorrection(), IMU_fuseGyroUpdate(), IMU_fuseNew(), IMU_fuseReset(), and IMU_orientationGet().


The documentation for this struct was generated from the following file:
  • C:/cygwin/home/caamunds/work/super/hardware/kit/common/bsp/thunderboard/imu/imu.h