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Dependencies: mbed LSM6DS33_GR1
FusionBias.c File Reference
The gyroscope bias correction algorithm achieves run-time calibration of the gyroscope bias. The algorithm will detect when the gyroscope is stationary for a set period of time and then begin to sample gyroscope measurements to calculate the bias as an average. More...
Go to the source code of this file.
Functions | |
| void | FusionBiasInitialise (FusionBias *const fusionBias, const float threshold, const float samplePeriod) |
| Initialises the gyroscope bias correction algorithm. | |
| FusionVector3 | FusionBiasUpdate (FusionBias *const fusionBias, FusionVector3 gyroscope) |
| Updates the gyroscope bias correction algorithm and returns the corrected gyroscope measurement. | |
| bool | FusionBiasIsActive (FusionBias *const fusionBias) |
| Returns true if the gyroscope bias correction algorithm is active. | |
Detailed Description
The gyroscope bias correction algorithm achieves run-time calibration of the gyroscope bias. The algorithm will detect when the gyroscope is stationary for a set period of time and then begin to sample gyroscope measurements to calculate the bias as an average.
Definition in file FusionBias.c.
Function Documentation
| void FusionBiasInitialise | ( | FusionBias *const | fusionBias, |
| const float | threshold, | ||
| const float | samplePeriod | ||
| ) |
Initialises the gyroscope bias correction algorithm.
- Parameters:
-
fusionBias FusionBias structure. threshold Gyroscope threshold (in degrees per second) below which the gyroscope is detected stationary. samplePeriod Nominal sample period (in seconds) corresponding the rate at which the application will update the algorithm.
Definition at line 42 of file FusionBias.c.
| bool FusionBiasIsActive | ( | FusionBias *const | fusionBias ) |
Returns true if the gyroscope bias correction algorithm is active.
- Parameters:
-
fusionBias FusionBias structure.
- Returns:
- True if the gyroscope bias correction algorithm is active.
Definition at line 84 of file FusionBias.c.
| FusionVector3 FusionBiasUpdate | ( | FusionBias *const | fusionBias, |
| FusionVector3 | gyroscope | ||
| ) |
Updates the gyroscope bias correction algorithm and returns the corrected gyroscope measurement.
- Parameters:
-
fusionBias FusionBias structure. gyroscope Gyroscope measurement in degrees per second.
- Returns:
- Corrected gyroscope measurement in degrees per second.
Definition at line 57 of file FusionBias.c.
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