Ce module réalise le filtrage des informations fournies par une centrale intertielle équipée d'un accéléromètre et d'un gyroscope 3 axes.
Get the current pitch.
- Renvoie
- The current pitch angle in radians.
Get the current roll.
- Renvoie
- The current roll angle in radians.
Get the current yaw.
- Renvoie
- The current yaw angle in radians.
Compute the Euler angles based on the current filter data.
- Paramètres
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void vImu6dInit |
( |
xImu6dFilter * |
xFilter, |
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float |
fFilterRate, |
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float |
fGyroError |
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) |
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Initializes filter variables.
- Paramètres
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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 vImu6dUpdateFilter |
( |
xImu6dFilter * |
xFilter, |
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float * |
xAcc, |
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float * |
xRate |
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) |
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Update the filter variables.
- Paramètres
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xFilter | Filter data |
xAcc | X,Y,Z-axis accelerometer reading in m/s/s. |
xRate | X,Y,Z-axis gyroscope reading in rad/s. |