Struct rc_mpu_data_t

Struct Documentation

struct rc_mpu_data_t

data struct populated with new sensor data

This is the container for holding the sensor data. The user is intended to make their own instance of this struct and pass its pointer to imu read functions. new data will then be written back into the user’s instance of the data struct.

base sensor readings in real units

double accel[3]

accelerometer (XYZ) in units of m/s^2

double gyro[3]

gyroscope (XYZ) in units of degrees/s

double mag[3]

magnetometer (XYZ) in units of uT

double temp

thermometer, in units of degrees Celsius

16 bit raw adc readings and conversion rates

int16_t raw_gyro[3]

raw gyroscope (XYZ)from 16-bit ADC

int16_t raw_accel[3]

raw accelerometer (XYZ) from 16-bit ADC

double accel_to_ms2

conversion rate from raw accelerometer to m/s^2

double gyro_to_degs

conversion rate from raw gyroscope to degrees/s

DMP data

double dmp_quat[4]

normalized quaternion from DMP based on ONLY Accel/Gyro

double dmp_TaitBryan[3]

Tait-Bryan angles (roll pitch yaw) in radians from DMP based on ONLY Accel/Gyro.

int tap_detected

set to 1 if there was a tap detect on the last dmp sample, reset to 0 on next sample

int last_tap_direction

direction of last tap, 1-6 corresponding to X+ X- Y+ Y- Z+ Z-

int last_tap_count

current counter of rapid consecutive taps

fused DMP data filtered with magnetometer

double fused_quat[4]

fused and normalized quaternion

double fused_TaitBryan[3]

fused Tait-Bryan angles (roll pitch yaw) in radians

double compass_heading

fused heading filtered with gyro and accel data, same as Tait-Bryan yaw

double compass_heading_raw

unfiltered heading from magnetometer