This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per second^2 floats. More...
#include <math/m_imu_pre.h>
Data Fields | |
| struct xrt_vec3 | bias |
| Bias for the imu part. | |
| float | _pad |
| struct xrt_vec3 | gain |
| Gain for the imu part. | |
| float | ticks_to_float |
| Going from IMU 'ticks' to a floating value. | |
Detailed Description
This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per second^2 floats.
One of these is used per gyro, accelerometer and magnometer.
The formula used is: v = ((V * ticks_to_float) - bias) * gain. For ticks_to_float the same value used for all channels, where as for gain and bias the value is per channel.
Field Documentation
◆ bias
| struct xrt_vec3 m_imu_pre_filter_part::bias |
Bias for the imu part.
Referenced by arduino_device_create(), m_imu_pre_filter_data(), and psmv_device_create().
◆ gain
| struct xrt_vec3 m_imu_pre_filter_part::gain |
Gain for the imu part.
Referenced by m_imu_pre_filter_data(), and psmv_device_create().
◆ ticks_to_float
| float m_imu_pre_filter_part::ticks_to_float |
Going from IMU 'ticks' to a floating value.
Referenced by m_imu_pre_filter_data().
The documentation for this struct was generated from the following file:
- auxiliary/math/m_imu_pre.h
