Classes
struct	sygaldry::sygsp::ComplementaryMimuFusion< Mimu >
	MIMU sensor fusion and runtime calibration component. More...

struct	sygaldry::sygsp::ComplementaryMimuFusionInputs
	Inputs for the MIMU sensor fusion component. More...

struct	sygaldry::sygsp::ComplementaryMimuFusionOutputs
	Outputs of the MIMU sensor fusion component. More...

Functions
void	sygaldry::sygsp::complementary_mimu_fusion_init (ComplementaryMimuFusionInputs &in, ComplementaryMimuFusionOutputs &out)

void	sygaldry::sygsp::complementary_mimu_fusion (const std::array< float, 3 > &gyro, const std::array< float, 3 > &accl, bool accl_updated, const std::array< float, 3 > &magn, bool magn_updated, const unsigned long elapsed, const ComplementaryMimuFusionInputs &in, ComplementaryMimuFusionOutputs &out)

Detailed Description

Function Documentation

void sygaldry::sygsp::complementary_mimu_fusion	(	const std::array< float, 3 > &	gyro,
		const std::array< float, 3 > &	accl,
		bool	accl_updated,
		const std::array< float, 3 > &	magn,
		bool	magn_updated,
		const unsigned long	elapsed,
		const ComplementaryMimuFusionInputs &	in,
		ComplementaryMimuFusionOutputs &	out
	)

Core complementary MIMU fusion filter routine

Parameters

[in]	gyro	Angular rate measurement from gyroscope. A gyroscope measurement must always be given.
[in]	accl	Acceleration measurement from accelerometer. Set to all 0 if no measurement is available.
[in]	magn	Magnetic field measurement from magnetometer. Set to all 0 if no measurement is available.
[in]	elapsed	Time elapsed since last update (i.e. measurement period).
[in]	in	Filter input endpoints
[out]	out	Filter output endpoints

void sygaldry::sygsp::complementary_mimu_fusion_init	(	ComplementaryMimuFusionInputs &	in,
		ComplementaryMimuFusionOutputs &	out
	)

Core complementary MIMU fusion filter initialization

Parameters

[in,out]	in	Filter input endpoints to initialize
[in,out]	out	Filter output endpoints to initialize