Lower level sensor fusion interface. More...

#include "sensor_fusion.h"

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Macros
COMPUTE_1DOF_P_BASIC constants
#define	FLPFSECS_1DOF_P_BASIC 1.5F
	pressure low pass filter time constant (s)

COMPUTE_3DOF_G_BASIC constants
#define	FLPFSECS_3DOF_G_BASIC 1.0F
	tilt orientation low pass filter time constant (s)

COMPUTE_3DOF_B_BASIC constants
#define	FLPFSECS_3DOF_B_BASIC 7.0F
	2D eCompass orientation low pass filter time constant (s)

COMPUTE_6DOF_GB_BASIC constants
#define	FLPFSECS_6DOF_GB_BASIC 7.0F

COMPUTE_6DOF_GY_KALMAN constants
#define	FQVY_6DOF_GY_KALMAN 2E2
	gyro sensor noise variance units (deg/s)^2

#define	FQVG_6DOF_GY_KALMAN 1.2E-3
	accelerometer sensor noise variance units g^2

#define	FQWB_6DOF_GY_KALMAN 2E-2F
	gyro offset random walk units (deg/s)^2

#define	FMIN_6DOF_GY_BPL -7.0F
	minimum permissible power on gyro offsets (deg/s)

#define	FMAX_6DOF_GY_BPL 7.0F
	maximum permissible power on gyro offsets (deg/s)

COMPUTE_9DOF_GBY_KALMAN constants
gyro sensor noise covariance units deg^2 increasing this parameter improves convergence to the geomagnetic field
#define	FQVY_9DOF_GBY_KALMAN 2E2
	gyro sensor noise variance units (deg/s)^2

#define	FQVG_9DOF_GBY_KALMAN 1.2E-3
	accelerometer sensor noise variance units g^2 defining minimum deviation from 1g sphere

#define	FQVB_9DOF_GBY_KALMAN 5E0
	magnetometer sensor noise variance units uT^2 defining minimum deviation from geomagnetic sphere.

#define	FQWB_9DOF_GBY_KALMAN 2E-2F
	gyro offset random walk units (deg/s)^2

#define	FMIN_9DOF_GBY_BPL -7.0F
	minimum permissible power on gyro offsets (deg/s)

#define	FMAX_9DOF_GBY_BPL 7.0F
	maximum permissible power on gyro offsets (deg/s)

Functions
Fusion Function Prototypes
These functions comprise the core of the basic sensor fusion functions excluding magnetic and acceleration calibration. Parameter descriptions are not included here, as details are provided in sensor_fusion.h.
void	fInitializeFusion (SensorFusionGlobals *sfg)

void	fFuseSensors (struct SV_1DOF_P_BASIC pthisSV_1DOF_P_BASIC, struct SV_3DOF_G_BASIC pthisSV_3DOF_G_BASIC, struct SV_3DOF_B_BASIC pthisSV_3DOF_B_BASIC, struct SV_3DOF_Y_BASIC pthisSV_3DOF_Y_BASIC, struct SV_6DOF_GB_BASIC pthisSV_6DOF_GB_BASIC, struct SV_6DOF_GY_KALMAN pthisSV_6DOF_GY_KALMAN, struct SV_9DOF_GBY_KALMAN pthisSV_9DOF_GBY_KALMAN, struct AccelSensor pthisAccel, struct MagSensor pthisMag, struct GyroSensor pthisGyro, struct PressureSensor pthisPressure, struct MagCalibration pthisMagCal)

void	fInit_1DOF_P_BASIC (struct SV_1DOF_P_BASIC pthisSV, struct PressureSensor pthisPressure, float flpftimesecs)

void	fInit_3DOF_G_BASIC (struct SV_3DOF_G_BASIC pthisSV, struct AccelSensor pthisAccel, float flpftimesecs)

void	fInit_3DOF_B_BASIC (struct SV_3DOF_B_BASIC pthisSV, struct MagSensor pthisMag, float flpftimesecs)

void	fInit_3DOF_Y_BASIC (struct SV_3DOF_Y_BASIC *pthisSV)

void	fInit_6DOF_GB_BASIC (struct SV_6DOF_GB_BASIC pthisSV, struct AccelSensor pthisAccel, struct MagSensor *pthisMag, float flpftimesecs)

void	fInit_6DOF_GY_KALMAN (struct SV_6DOF_GY_KALMAN pthisSV, struct AccelSensor pthisAccel, struct GyroSensor *pthisGyro)

void	fInit_9DOF_GBY_KALMAN (struct SV_9DOF_GBY_KALMAN pthisSV, struct AccelSensor pthisAccel, struct MagSensor pthisMag, struct GyroSensor pthisGyro, struct MagCalibration *pthisMagCal)

void	fRun_1DOF_P_BASIC (struct SV_1DOF_P_BASIC pthisSV, struct PressureSensor pthisPressure)

void	fRun_3DOF_G_BASIC (struct SV_3DOF_G_BASIC pthisSV, struct AccelSensor pthisAccel)

void	fRun_3DOF_B_BASIC (struct SV_3DOF_B_BASIC pthisSV, struct MagSensor pthisMag)

void	fRun_3DOF_Y_BASIC (struct SV_3DOF_Y_BASIC pthisSV, struct GyroSensor pthisGyro)

void	fRun_6DOF_GB_BASIC (struct SV_6DOF_GB_BASIC pthisSV, struct MagSensor pthisMag, struct AccelSensor *pthisAccel)

void	fRun_6DOF_GY_KALMAN (struct SV_6DOF_GY_KALMAN pthisSV, struct AccelSensor pthisAccel, struct GyroSensor *pthisGyro)

void	fRun_9DOF_GBY_KALMAN (struct SV_9DOF_GBY_KALMAN pthisSV, struct AccelSensor pthisAccel, struct MagSensor pthisMag, struct GyroSensor pthisGyro, struct MagCalibration *pthisMagCal)

Detailed Description

Lower level sensor fusion interface.

This file can be used to "tune" the performance of specific algorithms within the sensor fusion library. It also defines the lower level function definitions for specific algorithms. Normally, the higher level hooks in sensor_fusion.h will be used, and those shown here will be left alone.

Definition in file fusion.h.

Macro Definition Documentation

◆ FLPFSECS_1DOF_P_BASIC

#define FLPFSECS_1DOF_P_BASIC 1.5F

pressure low pass filter time constant (s)

Definition at line 30 of file fusion.h.

◆ FLPFSECS_3DOF_B_BASIC

#define FLPFSECS_3DOF_B_BASIC 7.0F

2D eCompass orientation low pass filter time constant (s)

Definition at line 40 of file fusion.h.

◆ FLPFSECS_3DOF_G_BASIC

#define FLPFSECS_3DOF_G_BASIC 1.0F

tilt orientation low pass filter time constant (s)

Definition at line 35 of file fusion.h.

◆ FLPFSECS_6DOF_GB_BASIC

#define FLPFSECS_6DOF_GB_BASIC 7.0F

Definition at line 45 of file fusion.h.

◆ FMAX_6DOF_GY_BPL

#define FMAX_6DOF_GY_BPL 7.0F

maximum permissible power on gyro offsets (deg/s)

Definition at line 54 of file fusion.h.

◆ FMAX_9DOF_GBY_BPL

#define FMAX_9DOF_GBY_BPL 7.0F

maximum permissible power on gyro offsets (deg/s)

Definition at line 66 of file fusion.h.

◆ FMIN_6DOF_GY_BPL

#define FMIN_6DOF_GY_BPL -7.0F

minimum permissible power on gyro offsets (deg/s)

Definition at line 53 of file fusion.h.

◆ FMIN_9DOF_GBY_BPL

#define FMIN_9DOF_GBY_BPL -7.0F

minimum permissible power on gyro offsets (deg/s)

Definition at line 65 of file fusion.h.

◆ FQVB_9DOF_GBY_KALMAN

#define FQVB_9DOF_GBY_KALMAN 5E0

magnetometer sensor noise variance units uT^2 defining minimum deviation from geomagnetic sphere.

Definition at line 63 of file fusion.h.

◆ FQVG_6DOF_GY_KALMAN

#define FQVG_6DOF_GY_KALMAN 1.2E-3

accelerometer sensor noise variance units g^2

Definition at line 51 of file fusion.h.

◆ FQVG_9DOF_GBY_KALMAN

#define FQVG_9DOF_GBY_KALMAN 1.2E-3

accelerometer sensor noise variance units g^2 defining minimum deviation from 1g sphere

Definition at line 62 of file fusion.h.

◆ FQVY_6DOF_GY_KALMAN

#define FQVY_6DOF_GY_KALMAN 2E2

gyro sensor noise variance units (deg/s)^2

Definition at line 50 of file fusion.h.

◆ FQVY_9DOF_GBY_KALMAN

#define FQVY_9DOF_GBY_KALMAN 2E2

gyro sensor noise variance units (deg/s)^2

Definition at line 61 of file fusion.h.

◆ FQWB_6DOF_GY_KALMAN

#define FQWB_6DOF_GY_KALMAN 2E-2F

gyro offset random walk units (deg/s)^2

Definition at line 52 of file fusion.h.

◆ FQWB_9DOF_GBY_KALMAN

#define FQWB_9DOF_GBY_KALMAN 2E-2F

gyro offset random walk units (deg/s)^2

Definition at line 64 of file fusion.h.

Function Documentation

◆ fFuseSensors()

void fFuseSensors	(	struct SV_1DOF_P_BASIC *	pthisSV_1DOF_P_BASIC,
		struct SV_3DOF_G_BASIC *	pthisSV_3DOF_G_BASIC,
		struct SV_3DOF_B_BASIC *	pthisSV_3DOF_B_BASIC,
		struct SV_3DOF_Y_BASIC *	pthisSV_3DOF_Y_BASIC,
		struct SV_6DOF_GB_BASIC *	pthisSV_6DOF_GB_BASIC,
		struct SV_6DOF_GY_KALMAN *	pthisSV_6DOF_GY_KALMAN,
		struct SV_9DOF_GBY_KALMAN *	pthisSV_9DOF_GBY_KALMAN,
		struct AccelSensor *	pthisAccel,
		struct MagSensor *	pthisMag,
		struct GyroSensor *	pthisGyro,
		struct PressureSensor *	pthisPressure,
		struct MagCalibration *	pthisMagCal
	)

Definition at line 66 of file fusion.c.

◆ fInit_1DOF_P_BASIC()

void fInit_1DOF_P_BASIC	(	struct SV_1DOF_P_BASIC *	pthisSV,
		struct PressureSensor *	pthisPressure,
		float	flpftimesecs
	)

Definition at line 152 of file fusion.c.

◆ fInit_3DOF_B_BASIC()

void fInit_3DOF_B_BASIC	(	struct SV_3DOF_B_BASIC *	pthisSV,
		struct MagSensor *	pthisMag,
		float	flpftimesecs
	)

Definition at line 205 of file fusion.c.

◆ fInit_3DOF_G_BASIC()

void fInit_3DOF_G_BASIC	(	struct SV_3DOF_G_BASIC *	pthisSV,
		struct AccelSensor *	pthisAccel,
		float	flpftimesecs
	)

Definition at line 177 of file fusion.c.

◆ fInit_3DOF_Y_BASIC()

void fInit_3DOF_Y_BASIC ( struct SV_3DOF_Y_BASIC * pthisSV )

Definition at line 233 of file fusion.c.

◆ fInit_6DOF_GB_BASIC()

void fInit_6DOF_GB_BASIC	(	struct SV_6DOF_GB_BASIC *	pthisSV,
		struct AccelSensor *	pthisAccel,
		struct MagSensor *	pthisMag,
		float	flpftimesecs
	)

Definition at line 248 of file fusion.c.

◆ fInit_6DOF_GY_KALMAN()

void fInit_6DOF_GY_KALMAN	(	struct SV_6DOF_GY_KALMAN *	pthisSV,
		struct AccelSensor *	pthisAccel,
		struct GyroSensor *	pthisGyro
	)

Definition at line 280 of file fusion.c.

◆ fInit_9DOF_GBY_KALMAN()

void fInit_9DOF_GBY_KALMAN	(	struct SV_9DOF_GBY_KALMAN *	pthisSV,
		struct AccelSensor *	pthisAccel,
		struct MagSensor *	pthisMag,
		struct GyroSensor *	pthisGyro,
		struct MagCalibration *	pthisMagCal
	)

Definition at line 342 of file fusion.c.

◆ fInitializeFusion()

void fInitializeFusion ( SensorFusionGlobals * sfg )

Definition at line 31 of file fusion.c.

◆ fRun_1DOF_P_BASIC()

void fRun_1DOF_P_BASIC	(	struct SV_1DOF_P_BASIC *	pthisSV,
		struct PressureSensor *	pthisPressure
	)

Definition at line 413 of file fusion.c.

◆ fRun_3DOF_B_BASIC()

void fRun_3DOF_B_BASIC	(	struct SV_3DOF_B_BASIC *	pthisSV,
		struct MagSensor *	pthisMag
	)

Definition at line 483 of file fusion.c.

◆ fRun_3DOF_G_BASIC()

void fRun_3DOF_G_BASIC	(	struct SV_3DOF_G_BASIC *	pthisSV,
		struct AccelSensor *	pthisAccel
	)

Definition at line 433 of file fusion.c.

◆ fRun_3DOF_Y_BASIC()

void fRun_3DOF_Y_BASIC	(	struct SV_3DOF_Y_BASIC *	pthisSV,
		struct GyroSensor *	pthisGyro
	)

Definition at line 528 of file fusion.c.

◆ fRun_6DOF_GB_BASIC()

void fRun_6DOF_GB_BASIC	(	struct SV_6DOF_GB_BASIC *	pthisSV,
		struct MagSensor *	pthisMag,
		struct AccelSensor *	pthisAccel
	)

Definition at line 576 of file fusion.c.

◆ fRun_6DOF_GY_KALMAN()

void fRun_6DOF_GY_KALMAN	(	struct SV_6DOF_GY_KALMAN *	pthisSV,
		struct AccelSensor *	pthisAccel,
		struct GyroSensor *	pthisGyro
	)

Definition at line 629 of file fusion.c.

Macros

Functions