m_imu_pre_filter_part Struct Reference

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>

Collaboration diagram for m_imu_pre_filter_part:

Data Fields
struct xrt_vec3	bias
	Bias for the imu part. More...
float	_pad
struct xrt_vec3	gain
	Gain for the imu part. More...
float	ticks_to_float
	Going from IMU 'ticks' to a floating value. More...

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.

gain

struct xrt_vec3 m_imu_pre_filter_part::gain

Gain for the imu part.

ticks_to_float

float m_imu_pre_filter_part::ticks_to_float

Going from IMU 'ticks' to a floating value.

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The documentation for this struct was generated from the following file:

• auxiliary/math/m_imu_pre.h