Interface OrientationFilter

All Known Implementing Classes:
ImuFilter

public interface OrientationFilter
  • Method Summary

    Modifier and Type Method Description
    double[] orientation()
    get current orientation
    void reInitGyro​(int still_period)
    Deprecated.
    void setAccelAffinity​(double bell_a, double bell_w)
    The filter uses a bell curve around acceleration changes to diminish the effect of high accelerations
    void setGyroBias​(double x, double y, double z)
    Set the Gyro bias in radians
    double[] update​(double dt, double[] accel, double[] compass, double[] gyro)
    Function to compute one filter iteration
  • Method Details

    • orientation

      double[] orientation()
      get current orientation
      Returns:
      orientation quaternion
    • update

      double[] update​(double dt, double[] accel, double[] compass, double[] gyro)
      Function to compute one filter iteration
      Parameters:
      dt - time difference with previous sample
      accel - acceleration vector
      compass - magnetometer vector
      gyro - gyroscope vector
      Returns:
      orientation quaternion
    • reInitGyro

      @Deprecated void reInitGyro​(int still_period)
      Deprecated.
    • setAccelAffinity

      void setAccelAffinity​(double bell_a, double bell_w)
      The filter uses a bell curve around acceleration changes to diminish the effect of high accelerations
      Parameters:
      bell_a - controls the height of the bell curve peak
      bell_w - controlls the width of the bell curve
    • setGyroBias

      void setGyroBias​(double x, double y, double z)
      Set the Gyro bias in radians
      Parameters:
      x - x-axis
      y - y-axis
      z - z-axis