Sensor Fusion Core APIs

Setup

Function	Description
initializeControlPort	Initialize hardware resources associated with the control port
initializeStatusSubsystem	Initialize hardware resources for the Status Subsystem
initSensorFusionGlobals	Initialize structures for sensor fusion

Public Interface

Function	Description
sfg.applyPerturbation	Optional unit test function
sfg.conditionSensorReadings	Process most recent sensor readings prior to running sensor fusion
sfg.installSensor	Install a sensor driver (init and read functions) for later use
sfg.initializeFusionEngine	Sensor Fusion startup routine
sfg.readSensors	Take sensor readings
sfg.runFusion	Run sensor fusion code
sfg.queueStatus	Queue up a status change for next regularly scheduled update
sfg.setStatus	Make immediate status change
sfg.updateStatus	Update status to equal queued status

Other

Function	Description
sfg.pControlSubsystem->stream	Stream samples and fusion results to the Sensor Fusion Toolbox. The control system streaming function has not been abstracted up to the sfg level, as it is application specific.