The structure for the quaternion-based attitude estimation. More...

Inheritance diagram for AHRS_qfilter:

Collaboration diagram for AHRS_qfilter:

Classes
struct	conf_t
	The structure for configuring the quaternion-based attitude estimation. More...
Public Member Functions
	AHRS_qfilter (const Imu &imu, const conf_t &config=default_config())
	Constructor.
bool	update (void)
	Performs the attitude estimation via a complementary filter.
float	last_update_s (void) const
	Last update in seconds.
bool	is_healthy (void) const
	Indicates which estimate can be trusted.
quat_t	attitude (void) const
	Estimated attitude.
std::array< float, 3 >	angular_speed (void) const
	Estimated angular velocity.
std::array< float, 3 >	linear_acceleration (void) const
	Estimated linear acceleration.
Static Public Member Functions
static conf_t	default_config ()
Protected Attributes
const Imu &	imu_
	Pointer to inertial sensors readout.
quat_t	attitude_
	Estimated attitude.
std::array< float, 3 >	angular_speed_
	Estimated angular speed.
std::array< float, 3 >	linear_acc_
	Estimated linear acceleration.
float	last_update_s_
	Last update time.

Detailed Description

The structure for the quaternion-based attitude estimation.

Constructor & Destructor Documentation

Constructor.

Parameters:

imu	The pointer to the IMU structure
config	The qfilter configuration gains

std::array< float, 3 > AHRS_qfilter::angular_speed ( void ) const [virtual]

Estimated angular velocity.

Implements AHRS.

quat_t AHRS_qfilter::attitude ( void ) const [virtual]

Estimated attitude.

Implements AHRS.

bool AHRS_qfilter::is_healthy ( void ) const [virtual]

Indicates which estimate can be trusted.

Parameters:

type	Type of estimate

Implements AHRS.

float AHRS_qfilter::last_update_s ( void ) const [virtual]

Last update in seconds.

Implements AHRS.

std::array< float, 3 > AHRS_qfilter::linear_acceleration ( void ) const [virtual]

Estimated linear acceleration.

Implements AHRS.

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