Centrale Inertielle 6 axes

Description détaillée

Ce module réalise le filtrage des informations fournies par une centrale intertielle équipée d'un accéléromètre et d'un gyroscope 3 axes.

Graphe de collaboration de Centrale Inertielle 6 axes:

Structures de données
struct	xImu6dFilter
	Données du filtre Imu6d. Plus de détails...

Fonctions
float	fImu6dPitch (xImu6dFilter *xFilter)
float	fImu6dRoll (xImu6dFilter *xFilter)
float	fImu6dYaw (xImu6dFilter *xFilter)
void	vImu6dComputeEuler (xImu6dFilter *xFilter)
void	vImu6dInit (xImu6dFilter *xFilter, float fFilterRate, float fGyroError)
void	vImu6dReset (xImu6dFilter *xFilter)
void	vImu6dUpdateFilter (xImu6dFilter *xFilter, float *xAcc, float *xRate)

Définitions de type
typedef struct xImu6dFilter	xImu6dFilter

Documentation des fonctions

float fImu6dPitch

(

xImu6dFilter *

xFilter

)

Get the current pitch.

Renvoie

The current pitch angle in radians.

float fImu6dRoll

(

xImu6dFilter *

xFilter

)

Get the current roll.

Renvoie

The current roll angle in radians.

float fImu6dYaw

(

xImu6dFilter *

xFilter

)

Get the current yaw.

Renvoie

The current yaw angle in radians.

void vImu6dComputeEuler

(

xImu6dFilter *

xFilter

)

Compute the Euler angles based on the current filter data.

Paramètres

xFilter

Filter data

void vImu6dInit	(	xImu6dFilter *	xFilter,
		float	fFilterRate,
		float	fGyroError
	)

Initializes filter variables.

Paramètres

xFilter	Filter data
fFilterRate	The rate at which the filter should be updated.
fGyroError	The error of the gyroscope in degrees per second. This used to calculate a tuning constant for the filter. Try changing this value if there are jittery readings, or they change too much or too fast when rotating the IMU.

void vImu6dReset

(

xImu6dFilter *

xFilter

)

Reset the filter.

void vImu6dUpdateFilter	(	xImu6dFilter *	xFilter,
		float *	xAcc,
		float *	xRate
	)

Update the filter variables.

Paramètres

xFilter	Filter data
xAcc	X,Y,Z-axis accelerometer reading in m/s/s.
xRate	X,Y,Z-axis gyroscope reading in rad/s.