imu.h File Reference

#include <stdbool.h>
#include "common/axis.h"
#include "common/maths.h"
#include "common/quaternion.h"
#include "../config/imu.h"

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Data Structures
union	imu_accel_reading
union	attitude_euler_angles
struct	imu

Typedefs
typedef int32_t	gyro_rates_t [3]
typedef int32_t	acc_rates_t [3]
typedef union attitude_euler_angles	euler_angles_t

Functions
void	imu_init (struct imu *self, const struct config *config)
void	imu_reload_config (struct imu *self)
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)
void	imu_update (struct imu *self, float dt)
void	imu_reset (struct imu *self)
int16_t	imu_calc_throttle_angle_correction (struct imu *self, uint8_t throttle_correction_value)
int16_t	imu_calc_heading (struct imu *self, t_fp_vector *vec)
float	imu_get_cos_tilt_angle (struct imu *self)
bool	imu_is_leveled (struct imu *self, uint8_t max_angle)
void	imu_get_attitude_dd (struct imu *self, union attitude_euler_angles *att)
void	imu_get_raw_accel (struct imu *self, union imu_accel_reading *acc)
void	imu_set_acc_scale (struct imu *self, int16_t acc_1G)
void	imu_set_gyro_scale (struct imu *self, float gyro_scale)
void	imu_get_gyro (struct imu *self, int16_t gyro[3])
float	imu_get_gyro_scale (struct imu *self)
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)
void	imu_get_rotation (struct imu *self, quat_t *q)
void	imu_enable_fast_dcm_convergence (struct imu *self, bool on)
float	imu_get_avg_vertical_accel_cmss (struct imu *self)
float	imu_get_est_vertical_vel_cms (struct imu *self)
float	imu_get_velocity_integration_time (struct imu *self)
void	imu_reset_velocity_estimate (struct imu *self)

Typedef Documentation

typedef int32_t acc_rates_t[3]

typedef union attitude_euler_angles euler_angles_t

typedef int32_t gyro_rates_t[3]

Function Documentation

int16_t imu_calc_heading	(	struct imu *	self,
		t_fp_vector *	vec
	)

void imu_reload_config

(

struct imu *

self

)

void imu_set_acc_scale	(	struct imu *	self,
		int16_t	acc_1G
	)

void imu_set_gyro_scale	(	struct imu *	self,
		float	gyro_scale
	)