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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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Collaboration diagram for SV_9DOF_GBY_KALMAN:Data Fields | |
| float | fPhiPl |
| float | fThePl |
| float | fPsiPl |
| float | fRhoPl |
| float | fChiPl |
| float | fRPl [3][3] |
| Quaternion | fqPl |
| float | fRVecPl [3] |
| float | fOmega [3] |
| int32_t | systick |
| float | fQw9x9 [9][9] |
| float | fK9x6 [9][6] |
| float | fQwCT9x6 [9][6] |
| float | fZErr [6] |
| float | fQv6x1 [6] |
| float | fDeltaPl |
| float | fsinDeltaPl |
| float | fcosDeltaPl |
| float | fqgErrPl [3] |
| float | fqmErrPl [3] |
| float | fbPl [3] |
| float | fbErrPl [3] |
| float | fAccGl [3] |
| float | fVelGl [3] |
| float | fDisGl [3] |
| float | fdeltat |
| float | fgdeltat |
| float | fAlphaOver2 |
| float | fAlphaSqOver4 |
| float | fAlphaSqQvYQwbOver12 |
| float | fAlphaQwbOver6 |
| float | fQwbOver3 |
| float | fMaxGyroOffsetChange |
| int8_t | iFirstAccelMagLock |
| int8_t | resetflag |
Definition at line 405 of file sensor_fusion.h.
| float fAccGl[3] |
linear acceleration (g) in global frame
Definition at line 431 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fAlphaOver2 |
PI / 180 * fdeltat / 2.
Definition at line 436 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fAlphaQwbOver6 |
(PI / 180 * fdeltat) * Qwb / 6
Definition at line 439 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN().
| float fAlphaSqOver4 |
(PI / 180 * fdeltat)^2 / 4
Definition at line 437 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fAlphaSqQvYQwbOver12 |
(PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12
Definition at line 438 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fbErrPl[3] |
gyro offset error (deg/s)
Definition at line 430 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fbPl[3] |
gyro offset (deg/s)
Definition at line 429 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fChiPl |
tilt from vertical (deg)
Definition at line 412 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fcosDeltaPl |
cos(fDeltaPl)
Definition at line 426 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fDeltaPl |
a posteriori inclination angle from Kalman filter (deg)
Definition at line 424 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fdeltat |
sensor fusion interval (s)
Definition at line 434 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fDisGl[3] |
displacement (m) in global frame
Definition at line 433 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fgdeltat |
g (m/s2) * fdeltat
Definition at line 435 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fK9x6[9][6] |
kalman filter gain matrix K
Definition at line 420 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fMaxGyroOffsetChange |
maximum permissible gyro offset change per iteration (deg/s)
Definition at line 441 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fOmega[3] |
average angular velocity (deg/s)
Definition at line 416 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fPhiPl |
| float fPsiPl |
| float fqgErrPl[3] |
gravity vector tilt orientation quaternion error (dimensionless)
Definition at line 427 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fqmErrPl[3] |
geomagnetic vector tilt orientation quaternion error (dimensionless)
Definition at line 428 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| Quaternion fqPl |
a posteriori orientation quaternion
Definition at line 414 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fQv6x1[6] |
measurement noise covariance matrix leading diagonal
Definition at line 423 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fQw9x9[9][9] |
covariance matrix Qw
Definition at line 419 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fQwbOver3 |
Qwb / 3.
Definition at line 440 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fQwCT9x6[9][6] |
| float fRhoPl |
| float fRPl[3][3] |
a posteriori orientation matrix
Definition at line 413 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fRVecPl[3] |
rotation vector
Definition at line 415 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fsinDeltaPl |
sin(fDeltaPl)
Definition at line 425 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fThePl |
| float fVelGl[3] |
velocity (m/s) in global frame
Definition at line 432 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fZErr[6] |
measurement error vector
Definition at line 422 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| int8_t iFirstAccelMagLock |
denotes that 9DOF orientation has locked to 6DOF eCompass
Definition at line 442 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| int8_t resetflag |
flag to request re-initialization on next pass
Definition at line 443 of file sensor_fusion.h.
Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| int32_t systick |
