data struct populated with new sensor data More...

#include <rc/mpu.h>

Data Fields
base sensor readings in real units
double	accel [3]
	accelerometer (XYZ) in units of m/s^2 More...

double	gyro [3]
	gyroscope (XYZ) in units of degrees/s More...

double	mag [3]
	magnetometer (XYZ) in units of uT More...

double	temp
	thermometer, in units of degrees Celsius More...

16 bit raw adc readings and conversion rates
int16_t	raw_gyro [3]
	raw gyroscope (XYZ)from 16-bit ADC More...

int16_t	raw_accel [3]
	raw accelerometer (XYZ) from 16-bit ADC More...

double	accel_to_ms2
	conversion rate from raw accelerometer to m/s^2 More...

double	gyro_to_degs
	conversion rate from raw gyroscope to degrees/s More...

DMP data
double	dmp_quat [4]
	normalized quaternion from DMP based on ONLY Accel/Gyro More...

double	dmp_TaitBryan [3]
	Tait-Bryan angles (roll pitch yaw) in radians from DMP based on ONLY Accel/Gyro. More...

int	tap_detected
	set to 1 if there was a tap detect on the last dmp sample, reset to 0 on next sample More...

int	last_tap_direction
	direction of last tap, 1-6 corresponding to X+ X- Y+ Y- Z+ Z- More...

int	last_tap_count
	current counter of rapid consecutive taps More...

fused DMP data filtered with magnetometer
double	fused_quat [4]
	fused and normalized quaternion More...

double	fused_TaitBryan [3]
	fused Tait-Bryan angles (roll pitch yaw) in radians More...

double	compass_heading
	fused heading filtered with gyro and accel data, same as Tait-Bryan yaw More...

double	compass_heading_raw
	unfiltered heading from magnetometer More...

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.

Examples:: rc_altitude.c, rc_balance.c, rc_test_dmp.c, rc_test_dmp_tap.c, and rc_test_mpu.c.

Field Documentation

◆ accel

double accel[3]

accelerometer (XYZ) in units of m/s^2

Examples:: rc_altitude.c, rc_test_dmp.c, and rc_test_mpu.c.

◆ gyro

double gyro[3]

gyroscope (XYZ) in units of degrees/s

Examples:: rc_test_dmp.c, and rc_test_mpu.c.

◆ mag

double mag[3]

magnetometer (XYZ) in units of uT

Examples:: rc_test_mpu.c.

◆ temp

double temp

thermometer, in units of degrees Celsius

Examples:: rc_test_dmp.c, and rc_test_mpu.c.

◆ raw_gyro

int16_t raw_gyro[3]

raw gyroscope (XYZ)from 16-bit ADC

Examples:: rc_test_mpu.c.

◆ raw_accel

int16_t raw_accel[3]

raw accelerometer (XYZ) from 16-bit ADC

Examples:: rc_test_mpu.c.

◆ accel_to_ms2

double accel_to_ms2

conversion rate from raw accelerometer to m/s^2

◆ gyro_to_degs

double gyro_to_degs

conversion rate from raw gyroscope to degrees/s

◆ dmp_quat

double dmp_quat[4]

normalized quaternion from DMP based on ONLY Accel/Gyro

Examples:: rc_altitude.c, and rc_test_dmp.c.

◆ dmp_TaitBryan

double dmp_TaitBryan[3]

Tait-Bryan angles (roll pitch yaw) in radians from DMP based on ONLY Accel/Gyro.

Examples:: rc_balance.c, and rc_test_dmp.c.

◆ tap_detected

int tap_detected

set to 1 if there was a tap detect on the last dmp sample, reset to 0 on next sample

◆ last_tap_direction

int last_tap_direction

direction of last tap, 1-6 corresponding to X+ X- Y+ Y- Z+ Z-

◆ last_tap_count

int last_tap_count

current counter of rapid consecutive taps

◆ fused_quat

double fused_quat[4]

fused and normalized quaternion

Examples:: rc_test_dmp.c.

◆ fused_TaitBryan

double fused_TaitBryan[3]

fused Tait-Bryan angles (roll pitch yaw) in radians

Examples:: rc_test_dmp.c.

◆ compass_heading

double compass_heading

fused heading filtered with gyro and accel data, same as Tait-Bryan yaw

Examples:: rc_test_dmp.c.

◆ compass_heading_raw

double compass_heading_raw

unfiltered heading from magnetometer

Examples:: rc_test_dmp.c.

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

mpu.h

Data Fields