TM_AHRSIMU_Functions

Library Functions. More...

Functions
void	TM_AHRSIMU_Init (TM_AHRSIMU_t *AHRSIMU, float sampleRate, float beta, float inclination)
	Initializes ARHS or IMU algorithm for motion calculations. More...
void	TM_AHRSIMU_UpdateAHRS (TM_AHRSIMU_t *AHRSIMU, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
	Updates AHRS algorithm with new values and calculates roll, pitch and yaw angles. More...
void	TM_AHRSIMU_UpdateIMU (TM_AHRSIMU_t *AHRSIMU, float gx, float gy, float gz, float ax, float ay, float az)
	Updates IMU algorithm with new values and calculates roll, pitch and yaw angles. More...

Detailed Description

Library Functions.

Function Documentation

void TM_AHRSIMU_Init	(	TM_AHRSIMU_t *	AHRSIMU,
		float	sampleRate,
		float	beta,
		float	inclination
	)

Initializes ARHS or IMU algorithm for motion calculations.

Parameters

*AHRSIMU	Pointer to TM_AHRSIMU_t empty structure
sampleRate	Sample rate frequency for updating data
beta	Gain for calculations and speed to stabilize. A value less than 0.2 is a good value but it mostly depends on applicaiton.
inclination	Magnetic inclination for position on earth in units of degrees. This value depends on GPS coordinates on earth.

Return values

None

void TM_AHRSIMU_UpdateAHRS	(	TM_AHRSIMU_t *	AHRSIMU,
		float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	mx,
		float	my,
		float	mz
	)

Updates AHRS algorithm with new values and calculates roll, pitch and yaw angles.

Parameters

*AHRSIMU	Pointer to TM_AHRSIMU_t empty structure
gx,gy,gz	Gyro data for X, Y and Z axis respectively. These parameters must be in units of rad/s. Use AHRSIMU_DEG2RAD if your gyro outputs data in deg/s.
ax,ay,az	Accelerometer data for X, Y and Z axis respectively. These parameters must be in units of gees.
mx,my,mz	Magnetic data for X, Y and Z axis respectively. These parameters must be in units of uT (micro Tesla). When all parameters are zero (magnetic sensor not used), TM_AHRSIMU_UpdateIMU is automatically called.

Return values

None

void TM_AHRSIMU_UpdateIMU	(	TM_AHRSIMU_t *	AHRSIMU,
		float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az
	)

Updates IMU algorithm with new values and calculates roll, pitch and yaw angles.

Parameters

*AHRSIMU	Pointer to TM_AHRSIMU_t empty structure
gx,gy,gz	Gyro data for X, Y and Z axis respectively. These parameters must be in units of rad/s. Use AHRSIMU_DEG2RAD if your gyro outputs data in deg/s.
ax,ay,az	Accelerometer data for X, Y and Z axis respectively. These parameters must be in units of gees.

Return values

None