IMU

Collaboration diagram for IMU:

Macros
#define	SPIN_RATE_LIMIT   20

Enumerations
enum	{ IMU_FLAG_USE_ACC = (1 << 0), IMU_FLAG_USE_MAG = (1 << 1), IMU_FLAG_USE_YAW = (1 << 2), IMU_FLAG_DCM_CONVERGE_FASTER = (1 << 3) }

Functions
void	imu_reset (struct imu *self)
void	imu_init (struct imu *self, const struct config *config)
void	imu_reset_velocity_estimate (struct imu *self)
bool	imu_is_leveled (struct imu *self, uint8_t max_angle)
void	imu_update (struct imu *self, float dt)
void	imu_input_accelerometer (struct imu *self, int16_t x, int16_t y, int16_t z)
void	imu_input_magnetometer (struct imu *self, int16_t x, int16_t y, int16_t z)
void	imu_input_gyro (struct imu *self, int16_t x, int16_t y, int16_t z)
void	imu_input_yaw_dd (struct imu *self, int16_t yaw)
void	imu_get_rotation (struct imu *self, quat_t *q)
float	imu_get_cos_tilt_angle (struct imu *self)
int16_t	imu_calc_throttle_angle_correction (struct imu *self, uint8_t throttle_correction_value)
void	imu_get_attitude_dd (struct imu *self, union attitude_euler_angles *att)
void	imu_get_gyro (struct imu *self, int16_t gyr[3])
float	imu_get_gyro_scale (struct imu *self)
void	imu_get_raw_accel (struct imu *self, union imu_accel_reading *accel)
int16_t	imu_get_roll_dd (struct imu *self)
int16_t	imu_get_pitch_dd (struct imu *self)
int16_t	imu_get_yaw_dd (struct imu *self)
float	imu_get_velocity_integration_time (struct imu *self)
float	imu_get_avg_vertical_accel_cmss (struct imu *self)
float	imu_get_est_vertical_vel_cms (struct imu *self)
void	imu_enable_fast_dcm_convergence (struct imu *self, bool on)

Detailed Description

• Test that imu leveling is detected correctly.
• Make sure that different acc readings properly align the imu.

Macro Definition Documentation

#define SPIN_RATE_LIMIT   20

Enumeration Type Documentation

anonymous enum

Enumerator
IMU_FLAG_USE_ACC
IMU_FLAG_USE_MAG
IMU_FLAG_USE_YAW
IMU_FLAG_DCM_CONVERGE_FASTER

Function Documentation

int16_t imu_calc_throttle_angle_correction	(	struct imu *	self,
		uint8_t	throttle_correction_value
	)

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void imu_enable_fast_dcm_convergence	(	struct imu *	self,
		bool	on
	)

void imu_get_attitude_dd	(	struct imu *	self,
		union attitude_euler_angles *	att
	)

float imu_get_avg_vertical_accel_cmss

(

struct imu *

self

)

float imu_get_cos_tilt_angle

(

struct imu *

self

)

float imu_get_est_vertical_vel_cms

(

struct imu *

self

)

void imu_get_gyro	(	struct imu *	self,
		int16_t	gyr[3]
	)

float imu_get_gyro_scale

(

struct imu *

self

)

int16_t imu_get_pitch_dd

(

struct imu *

self

)

void imu_get_raw_accel	(	struct imu *	self,
		union imu_accel_reading *	accel
	)

int16_t imu_get_roll_dd

(

struct imu *

self

)

void imu_get_rotation	(	struct imu *	self,
		quat_t *	q
	)

float imu_get_velocity_integration_time

(

struct imu *

self

)

int16_t imu_get_yaw_dd

(

struct imu *

self

)

void imu_init	(	struct imu *	self,
		const struct config *	config
	)

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void imu_input_accelerometer	(	struct imu *	self,
		int16_t	x,
		int16_t	y,
		int16_t	z
	)

void imu_input_gyro	(	struct imu *	self,
		int16_t	x,
		int16_t	y,
		int16_t	z
	)

void imu_input_magnetometer	(	struct imu *	self,
		int16_t	x,
		int16_t	y,
		int16_t	z
	)

void imu_input_yaw_dd	(	struct imu *	self,
		int16_t	yaw
	)

bool imu_is_leveled	(	struct imu *	self,
		uint8_t	max_angle
	)

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void imu_reset

(

struct imu *

self

)

void imu_reset_velocity_estimate

(

struct imu *

self

)

void imu_update	(	struct imu *	self,
		float	dt
	)

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