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Sensor Fusion for Kinetis MCUs (ISSDK/KSDK version)
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Sensor Fusion for Kinetis MCUs (ISSDK/KSDK version)
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Data Fields | |
| float | fV [3] |
| float | finvW [3][3] |
| float | fB |
| float | fBSq |
| float | fFitErrorpc |
| int32_t | iValidMagCal |
| float | ftrV [3] |
| float | ftrinvW [3][3] |
| float | ftrB |
| float | ftrFitErrorpc |
| float | fA [3][3] |
| float | finvA [3][3] |
| float | fmatA [10][10] |
| float | fmatB [10][10] |
| float | fvecA [10] |
| float | fvecB [4] |
| float | fYTY |
| int32_t | iSumBs [3] |
| int32_t | iMeanBs [3] |
| int32_t | itimeslice |
| int8_t | iCalInProgress |
| int8_t | iNewCalibrationAvailable |
| int8_t | iInitiateMagCal |
| int8_t | iMagBufferReadOnly |
| int8_t | i4ElementSolverTried |
| int8_t | i7ElementSolverTried |
| int8_t | i10ElementSolverTried |
Definition at line 72 of file magnetic.h.
| float fA[3][3] |
ellipsoid matrix A
Definition at line 87 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration7(), fUpdateMagCalibration10Slice(), and fUpdateMagCalibration7Slice().
| float fB |
current geomagnetic field magnitude (uT)
Definition at line 77 of file magnetic.h.
Referenced by CreateAndSendPackets(), fInitializeMagCalibration(), fRun_6DOF_GY_KALMAN(), and fRunMagCalibration().
| float fBSq |
square of fB (uT^2)
Definition at line 78 of file magnetic.h.
Referenced by fInitializeMagCalibration(), fRun_6DOF_GY_KALMAN(), and fRunMagCalibration().
| float fFitErrorpc |
current fit error %
Definition at line 79 of file magnetic.h.
Referenced by CreateAndSendPackets(), fInitializeMagCalibration(), and fRunMagCalibration().
| float finvA[3][3] |
inverse of ellipsoid matrix A
Definition at line 88 of file magnetic.h.
Referenced by fComputeMagCalibration10(), and fUpdateMagCalibration10Slice().
| float finvW[3][3] |
current inverse soft iron matrix
Definition at line 76 of file magnetic.h.
Referenced by CreateAndSendPackets(), fInitializeMagCalibration(), fInvertMagCal(), and fRunMagCalibration().
| float fmatA[10][10] |
scratch 10x10 float matrix used by calibration algorithms
Definition at line 89 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float fmatB[10][10] |
scratch 10x10 float matrix used by calibration algorithms
Definition at line 90 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float ftrB |
trial value of geomagnetic field magnitude in uT
Definition at line 85 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float ftrFitErrorpc |
trial value of fit error %
Definition at line 86 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float ftrinvW[3][3] |
trial inverse soft iron matrix size
Definition at line 84 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float ftrV[3] |
trial value of hard iron offset z, y, z (uT)
Definition at line 83 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float fV[3] |
current hard iron offset x, y, z, (uT)
Definition at line 75 of file magnetic.h.
Referenced by CreateAndSendPackets(), fInitializeMagCalibration(), fInvertMagCal(), and fRunMagCalibration().
| float fvecA[10] |
scratch 10x1 vector used by calibration algorithms
Definition at line 91 of file magnetic.h.
Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| float fvecB[4] |
scratch 4x1 vector used by calibration algorithms
Definition at line 92 of file magnetic.h.
Referenced by fComputeMagCalibration4(), and fUpdateMagCalibration4Slice().
| float fYTY |
Y^T.Y for 4 element calibration = (iB^2)^2.
Definition at line 93 of file magnetic.h.
Referenced by fUpdateMagCalibration4Slice().
| int8_t i10ElementSolverTried |
flag to denote at least one attempt made with 4 element calibration
Definition at line 103 of file magnetic.h.
Referenced by fInitializeMagCalibration(), and fRunMagCalibration().
| int8_t i4ElementSolverTried |
flag to denote at least one attempt made with 4 element calibration
Definition at line 101 of file magnetic.h.
Referenced by fInitializeMagCalibration(), and fRunMagCalibration().
| int8_t i7ElementSolverTried |
flag to denote at least one attempt made with 4 element calibration
Definition at line 102 of file magnetic.h.
Referenced by fInitializeMagCalibration(), and fRunMagCalibration().
| int8_t iCalInProgress |
flag denoting that a calibration is in progress
Definition at line 97 of file magnetic.h.
Referenced by fInitializeMagCalibration(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| int8_t iInitiateMagCal |
flag to start a new magnetic calibration
Definition at line 99 of file magnetic.h.
Referenced by fInitializeMagCalibration(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| int8_t iMagBufferReadOnly |
flag to denote that the magnetic measurement buffer is temporarily read only
Definition at line 100 of file magnetic.h.
Referenced by fInitializeMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), fUpdateMagCalibration7Slice(), and processMagData().
| int32_t iMeanBs[3] |
average magnetic measurement (counts)
Definition at line 95 of file magnetic.h.
Referenced by fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| int8_t iNewCalibrationAvailable |
flag denoting that a new calibration has been computed
Definition at line 98 of file magnetic.h.
Referenced by fInitializeMagCalibration(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| int32_t iSumBs[3] |
sum of measurements in buffer (counts)
Definition at line 94 of file magnetic.h.
Referenced by fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| int32_t itimeslice |
counter for tine slicing magnetic calibration calculations
Definition at line 96 of file magnetic.h.
Referenced by fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), and fUpdateMagCalibration7Slice().
| int32_t iValidMagCal |
solver used: 0 (no calibration) or 4, 7, 10 element
Definition at line 80 of file magnetic.h.
Referenced by fInitializeMagCalibration(), fRun_6DOF_GY_KALMAN(), and fRunMagCalibration().
