This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per floats. More...
#include <math/m_imu_pre.h>
Collaboration diagram for m_imu_pre_filter_part:
Data Fields | |
| struct xrt_vec3 | bias |
| Bias for the imu part. More... | |
| float | _pad |
| struct xrt_vec3 | gain |
| Gain for the imu part. More... | |
| float | ticks_to_float |
| Going from IMU 'ticks' to a floating value. More... | |
Detailed Description
This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per floats.
One of these is used per gyro, accelerometer and magnometer.
The formula used is: v = ((V * ticks_to_float) - bias) * gain. For ticks_to_float the same value used for all channels, where as for gain and bias the value is per channel.
Field Documentation
◆ bias
| struct xrt_vec3 m_imu_pre_filter_part::bias |
Bias for the imu part.
◆ gain
| struct xrt_vec3 m_imu_pre_filter_part::gain |
Gain for the imu part.
◆ ticks_to_float
| float m_imu_pre_filter_part::ticks_to_float |
Going from IMU 'ticks' to a floating value.
The documentation for this struct was generated from the following file:
- auxiliary/math/m_imu_pre.h
