Gyroscope Class Reference

Abstract class for gyroscopes. More...

#include <gyroscope.hpp>

Inheritance diagram for Gyroscope:

List of all members.

Public Member Functions
virtual bool	init (void)=0
	Initialise the sensor.
virtual bool	update (void)=0
	Main update function Reads new values from sensor.
virtual const float &	last_update_us (void) const =0
	Get last update time in microseconds.
virtual const std::array < float, 3 > &	gyro (void) const =0
	Get X, Y and Z components of angular velocity.
virtual const float &	gyro_X (void) const =0
	Get X component of angular velocity.
virtual const float &	gyro_Y (void) const =0
	Get Y component of angular velocity.
virtual const float &	gyro_Z (void) const =0
	Get Z component of angular velocity.
virtual const float &	temperature (void) const =0
	Get sensor temperature.

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Detailed Description

Abstract class for gyroscopes.

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Member Function Documentation

virtual const std::array<float, 3>& Gyroscope::gyro

(

void

)

const [pure virtual]

Get X, Y and Z components of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

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virtual const float& Gyroscope::gyro_X

(

void

)

const [pure virtual]

Get X component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

virtual const float& Gyroscope::gyro_Y

(

void

)

const [pure virtual]

Get Y component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

virtual const float& Gyroscope::gyro_Z

(

void

)

const [pure virtual]

Get Z component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

virtual bool Gyroscope::init

(

void

)

[pure virtual]

Initialise the sensor.

Returns:

Success

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

virtual const float& Gyroscope::last_update_us

(

void

)

const [pure virtual]

Get last update time in microseconds.

Returns:

Update time

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

virtual const float& Gyroscope::temperature

(

void

)

const [pure virtual]

Get sensor temperature.

Returns:

Value

Implemented in Mpu_9250, Lsm330dlc, Mpu_6050, and Gyroscope_sim.

virtual bool Gyroscope::update

(

void

)

[pure virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implemented in Mpu_9250_gyr, Lsm330dlc_gyr, Mpu_6050_gyr, and Gyroscope_sim.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/gyroscope.hpp