Vincent Soubirane / Mbed 2 deprecated Projet_ATTITUDE_IMU

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fusion/FusionCalibration.h@1:57502185804c, 2021-10-30 (annotated)

Committer:
natvich
Date:
Sat Oct 30 17:17:07 2021 +0000
Revision:
1:57502185804c
Projet ATTITUDE IMU

Who changed what in which revision?

UserRevisionLine numberNew contents of line
natvich 1:57502185804c 1 /**
natvich 1:57502185804c 2 * @file FusionCalibration.h
natvich 1:57502185804c 3 * @author Seb Madgwick
natvich 1:57502185804c 4 * @brief Gyroscope, accelerometer, and magnetometer calibration model.
natvich 1:57502185804c 5 *
natvich 1:57502185804c 6 * Static inline implementations are used to optimise for increased execution
natvich 1:57502185804c 7 * speed.
natvich 1:57502185804c 8 */
natvich 1:57502185804c 9
natvich 1:57502185804c 10 #ifndef FUSION_CALIBRATION_H
natvich 1:57502185804c 11 #define FUSION_CALIBRATION_H
natvich 1:57502185804c 12
natvich 1:57502185804c 13 //------------------------------------------------------------------------------
natvich 1:57502185804c 14 // Includes
natvich 1:57502185804c 15
natvich 1:57502185804c 16 #include "FusionTypes.h"
natvich 1:57502185804c 17
natvich 1:57502185804c 18 //------------------------------------------------------------------------------
natvich 1:57502185804c 19 // Inline functions
natvich 1:57502185804c 20
natvich 1:57502185804c 21 /**
natvich 1:57502185804c 22 * @brief Gyroscope and accelerometer calibration model.
natvich 1:57502185804c 23 * @param uncalibrated Uncalibrated gyroscope or accelerometer measurement in
natvich 1:57502185804c 24 * lsb.
natvich 1:57502185804c 25 * @param misalignment Misalignment matrix (may not be a true rotation matrix).
natvich 1:57502185804c 26 * @param sensitivity Sensitivity in g per lsb for an accelerometer and degrees
natvich 1:57502185804c 27 * per second per lsb for a gyroscope.
natvich 1:57502185804c 28 * @param bias Bias in lsb.
natvich 1:57502185804c 29 * @return Calibrated gyroscope or accelerometer measurement.
natvich 1:57502185804c 30 */
natvich 1:57502185804c 31 static inline __attribute__((always_inline)) FusionVector3 FusionCalibrationInertial(const FusionVector3 uncalibrated, const FusionRotationMatrix misalignment, const FusionVector3 sensitivity, const FusionVector3 bias) {
natvich 1:57502185804c 32 return FusionRotationMatrixMultiplyVector(misalignment, FusionVectorHadamardProduct(FusionVectorSubtract(uncalibrated, bias), sensitivity));
natvich 1:57502185804c 33 }
natvich 1:57502185804c 34
natvich 1:57502185804c 35 /**
natvich 1:57502185804c 36 * @brief Magnetometer calibration model.
natvich 1:57502185804c 37 * @param magnetometer Uncalibrated magnetometer measurement in uT.
natvich 1:57502185804c 38 * @param softIronMatrix Soft-iron matrix (may not be a true rotation matrix).
natvich 1:57502185804c 39 * @param hardIronBias Hard-iron bias in uT.
natvich 1:57502185804c 40 * @return Calibrated magnetometer measurement.
natvich 1:57502185804c 41 */
natvich 1:57502185804c 42 static inline __attribute__((always_inline)) FusionVector3 FusionCalibrationMagnetic(const FusionVector3 uncalibrated, const FusionRotationMatrix softIronMatrix, const FusionVector3 hardIronBias) {
natvich 1:57502185804c 43 return FusionVectorSubtract(FusionRotationMatrixMultiplyVector(softIronMatrix, uncalibrated), hardIronBias);
natvich 1:57502185804c 44 }
natvich 1:57502185804c 45
natvich 1:57502185804c 46 #endif
natvich 1:57502185804c 47
natvich 1:57502185804c 48 //------------------------------------------------------------------------------
natvich 1:57502185804c 49 // End of file