GyroSensor Struct Reference

Data Fields
uint8_t	iWhoAmI
bool	isEnabled
uint8_t	iFIFOCount
uint16_t	iFIFOExceeded
int16_t	iYsFIFO [GYRO_FIFO_SIZE][3]
float	fYs [3]
float	fDegPerSecPerCount
int16_t	iCountsPerDegPerSec
int16_t	iYs [3]

Detailed Description

The GyroSensor structure stores raw and processed measurements, as well as metadata for a single 3-axis gyroscope. This structure is normally "fed" by the sensor driver and "consumed" by the fusion routines.

Definition at line 249 of file sensor_fusion.h.

Field Documentation

float fDegPerSecPerCount

deg/s per count

Definition at line 258 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fYs[3]

averaged measurement (deg/s)

Definition at line 257 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), fInit_9DOF_GBY_KALMAN(), and fRun_3DOF_Y_BASIC().

int16_t iCountsPerDegPerSec

counts per deg/s

Definition at line 259 of file sensor_fusion.h.

uint8_t iFIFOCount

number of measurements read from FIFO

Definition at line 253 of file sensor_fusion.h.

Referenced by ApplyGyroHAL(), and fRun_6DOF_GY_KALMAN().

uint16_t iFIFOExceeded

Number of samples received in excess of software FIFO size.

Definition at line 254 of file sensor_fusion.h.

bool isEnabled

true if the device is sampling

Definition at line 252 of file sensor_fusion.h.

uint8_t iWhoAmI

sensor whoami

Definition at line 251 of file sensor_fusion.h.

int16_t iYs[3]

average measurement (counts)

Definition at line 260 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

int16_t iYsFIFO[GYRO_FIFO_SIZE][3]

FIFO measurements (counts)

Definition at line 255 of file sensor_fusion.h.

Referenced by ApplyGyroHAL(), and fRun_6DOF_GY_KALMAN().

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The documentation for this struct was generated from the following file:

• sensor_fusion.h