OrientationSensor represents a 9-Degrees-of-Freedom sensor (magnetometer, accelerometer, and gyroscope). More...

#include <orientation_sensor.h>

Public Member Functions
	OrientationSensor (uint8_t pin_i2c_sda, uint8_t pin_i2c_scl, uint8_t accel_mag_i2c_addr, uint8_t gyro_i2c_addr)
	Constructor sets up the I2C communications to the sensor and initializes the sensor fusion library.

void	ReadAndProcessSensors (void)
	reads sensor hardware and runs fusion algorithm

int	GetFusionRateHz (void)
	Return how fast we read the physical sensor and run the fusion algorithm.

Public Attributes
SensorFusion *	sensor_interface_
	sensor's Fusion Library interface

Detailed Description

OrientationSensor represents a 9-Degrees-of-Freedom sensor (magnetometer, accelerometer, and gyroscope).

This class provides the interface to the SensorFusion library which performs the I2C communication with the sensor and runs the sensor fusion algorithm.

A compatible sensor is the NXP FXOS8700 + FXAS21002 combination sensor. This combination sensor is found on products such as the Adafruit #3463 breakout board. The OrientationSensorFusion-ESP library is configured to use this NXP sensor by default, though other sensors can be used by adjusting the library's build.h and board.h files. Calling the public SensorFusion:: methods can be done after you instantiate OrientationSensor, for example by: orientation_sensor->sensor_interface_->GetOrientationQuaternion(); The OrientationSensorFusion-ESP library has details:

See also: https://github.com/BjarneBitscrambler/OrientationSensorFusion-ESP.git

Definition at line 36 of file orientation_sensor.h.

Constructor & Destructor Documentation

◆ OrientationSensor()

OrientationSensor::OrientationSensor	(	uint8_t	pin_i2c_sda,
		uint8_t	pin_i2c_scl,
		uint8_t	accel_mag_i2c_addr,
		uint8_t	gyro_i2c_addr
	)

Constructor sets up the I2C communications to the sensor and initializes the sensor fusion library.

Parameters

pin_i2c_sda	Pin of SDA line to sensor. Use -1 for Arduino default.
pin_i2c_scl	Pin of SCL line to sensor. Use -1 for Arduino default.
accel_mag_i2c_addr	I2C address of accelerometer/magnetometer IC.
gyro_i2c_addr	I2C address of gyroscope IC.
config_path	RESTful path by which sensor can be configured.

Definition at line 27 of file orientation_sensor.cpp.

Member Function Documentation

◆ GetFusionRateHz()

int OrientationSensor::GetFusionRateHz ( void )

Return how fast we read the physical sensor and run the fusion algorithm.

Definition at line 72 of file orientation_sensor.cpp.

◆ ReadAndProcessSensors()

void OrientationSensor::ReadAndProcessSensors ( void )

reads sensor hardware and runs fusion algorithm

Read the Sensors and calculate orientation parameters.

Definition at line 80 of file orientation_sensor.cpp.

Member Data Documentation

◆ sensor_interface_

SensorFusion* OrientationSensor::sensor_interface_

sensor's Fusion Library interface

Definition at line 40 of file orientation_sensor.h.

The documentation for this class was generated from the following files:

src/orientation_sensor.h
src/orientation_sensor.cpp

Public Member Functions

Public Attributes