Diff: Fusion/FusionBias.h

Revision:

1:57502185804c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionBias.h	Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,44 @@
+/**
+ * @file FusionBias.h
+ * @author Seb Madgwick
+ * @brief 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.
+ */
+
+#ifndef FUSION_BIAS_H
+#define FUSION_BIAS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionTypes.h"
+#include <stdbool.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Gyroscope bias correction algorithm structure.  Structure members are
+ * used internally and should not be used by the user application.
+ */
+typedef struct {
+    float threshold;
+    float samplePeriod;
+    float filterCoefficient;
+    float stationaryTimer;
+    FusionVector3 gyroscopeBias;
+} FusionBias;
+
+//------------------------------------------------------------------------------
+// Function prototypes
+
+void FusionBiasInitialise(FusionBias * const fusionBias, const float threshold, const float samplePeriod);
+FusionVector3 FusionBiasUpdate(FusionBias * const fusionBias, FusionVector3 gyroscope);
+bool FusionBiasIsActive(FusionBias * const fusionBias);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file