IMU Class Reference

#include <IMU.h>

Inherited by AP_IMU_Oilpan, and AP_IMU_Shim.

Collaboration diagram for IMU:

List of all members.

Public Types
enum	Start_style { COLD_START = 0, WARM_START }
Public Member Functions
	IMU ()
	Constructor.
virtual void	init (Start_style style)=0
virtual void	init_accel (Start_style style)=0
virtual void	init_gyro (Start_style style)=0
virtual bool	update (void)=0
Vector3f	get_gyro (void)
Vector3f	get_accel (void)
void	load_gyro_eeprom (void)
	XXX backwards compat hack.
void	load_accel_eeprom (void)
	XXX backwards compat hack.
Public Attributes
uint8_t	adc_constraints
Protected Attributes
Vector3f	_accel
	Most recent accelerometer reading obtained by update.
Vector3f	_gyro
	Most recent gyro reading obtained by update.

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Detailed Description

Definition at line 13 of file IMU.h.

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Member Enumeration Documentation

enum IMU::Start_style

Enumerator:

COLD_START
WARM_START

Definition at line 20 of file IMU.h.

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Constructor & Destructor Documentation

IMU::IMU

(

)

[inline]

Constructor.

Definition at line 18 of file IMU.h.

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Member Function Documentation

Vector3f IMU::get_accel

(

void

)

[inline]

Fetch the current accelerometer values

Returns:

vector of current accelerations in m/s/s

Definition at line 75 of file IMU.h.

Vector3f IMU::get_gyro

(

void

)

[inline]

Fetch the current gyro values

Returns:

vector of rotational rates in radians/sec

Definition at line 69 of file IMU.h.

virtual void IMU::init

(

Start_style

style

)

[pure virtual]

Perform startup initialisation.

Called to initialise the state of the IMU.

For COLD_START, implementations using real sensors can assume that the airframe is stationary and nominally oriented.

For WARM_START, no assumptions should be made about the orientation or motion of the airframe. Calibration should be as for the previous COLD_START call.

Parameters:

style

The initialisation startup style.

Implemented in AP_IMU_Oilpan, and AP_IMU_Shim.

virtual void IMU::init_accel

(

Start_style

style

)

[pure virtual]

Perform startup initialisation for just the accelerometers.

Note:

This should not be called unless init has previously been called, as init may perform other work.

Parameters:

style

The initialisation startup style.

Implemented in AP_IMU_Oilpan, and AP_IMU_Shim.

virtual void IMU::init_gyro

(

Start_style

style

)

[pure virtual]

Perform cold-start initialisation for just the gyros.

Note:

This should not be called unless init has previously been called, as init may perform other work

Parameters:

style

The initialisation startup style.

Implemented in AP_IMU_Oilpan, and AP_IMU_Shim.

void IMU::load_accel_eeprom

(

void

)

[inline]

XXX backwards compat hack.

Definition at line 86 of file IMU.h.

void IMU::load_gyro_eeprom

(

void

)

[inline]

XXX backwards compat hack.

Definition at line 85 of file IMU.h.

virtual bool IMU::update

(

void

)

[pure virtual]

Give the IMU some cycles to perform/fetch an update from its sensors.

Returns:

True if some state was updated.

Implemented in AP_IMU_Oilpan, and AP_IMU_Shim.

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Member Data Documentation

Vector3f IMU::_accel [protected]

Most recent accelerometer reading obtained by update.

Definition at line 90 of file IMU.h.

Vector3f IMU::_gyro [protected]

Most recent gyro reading obtained by update.

Definition at line 93 of file IMU.h.

uint8_t IMU::adc_constraints

A count of bad sensor readings

Todo:

This should be renamed, as there's no guarantee that sensors are using ADCs, etc.

Definition at line 82 of file IMU.h.

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

• IMU.h