MBot Software Library  v1.0
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rc_mpu_data_t Struct Reference

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
 

Detailed Description

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.


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