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MBot Software Library
v1.0
An API documentation to mbot_firmware repository
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data struct populated with new sensor data More...
#include <mpu.h>
Public Attributes | |
base sensor readings in real units | |
double | accel [3] |
accelerometer (XYZ) in units of m/s^2 | |
double | gyro [3] |
gyroscope (XYZ) in units of degrees/s | |
double | mag [3] |
magnetometer (XYZ) in units of uT | |
double | temp |
thermometer, in units of degrees Celsius | |
16 bit raw adc readings and conversion rates | |
int16_t | raw_gyro [3] |
raw gyroscope (XYZ)from 16-bit ADC | |
int16_t | raw_accel [3] |
raw accelerometer (XYZ) from 16-bit ADC | |
double | accel_to_ms2 |
conversion rate from raw accelerometer to m/s^2 | |
double | gyro_to_degs |
conversion rate from raw gyroscope to degrees/s | |
DMP data | |
double | dmp_quat [4] |
normalized quaternion from DMP based on ONLY Accel/Gyro | |
double | dmp_TaitBryan [3] |
Tait-Bryan angles (roll pitch yaw) in radians from DMP based on ONLY Accel/Gyro. | |
int | tap_detected |
set to 1 if there was a tap detect on the last dmp sample, reset to 0 on next sample | |
int | last_tap_direction |
direction of last tap, 1-6 corresponding to X+ X- Y+ Y- Z+ Z- | |
int | last_tap_count |
current counter of rapid consecutive taps | |
fused DMP data filtered with magnetometer | |
double | fused_quat [4] |
fused and normalized quaternion | |
double | fused_TaitBryan [3] |
fused Tait-Bryan angles (roll pitch yaw) in radians | |
double | compass_heading |
fused heading filtered with gyro and accel data, same as Tait-Bryan yaw | |
double | compass_heading_raw |
unfiltered heading from magnetometer | |
data struct populated with new sensor data
This is the container for holding the sensor data. The user is intended to make their own instance of this struct and pass its pointer to imu read functions. new data will then be written back into the user's instance of the data struct.