Mpu_6050 Class Reference

Driver for sensor MPU_6050 imu. More...

#include <mpu_6050.hpp>

Inheritance diagram for Mpu_6050:

Collaboration diagram for Mpu_6050:

List of all members.

Public Member Functions
	Mpu_6050 (I2c &i2c)
	Constructor.
bool	init (void)
	Initialise the sensor.
bool	update_acc (void)
	Main update function.
bool	update_gyr (void)
const float &	last_update_us (void) const
	Get last update time in microseconds.
const std::array< float, 3 > &	gyro (void) const
	Get X, Y and Z components of angular velocity.
const float &	gyro_X (void) const
	Get X component of angular velocity.
const float &	gyro_Y (void) const
	Get Y component of angular velocity.
const float &	gyro_Z (void) const
	Get Z component of angular velocity.
const std::array< float, 3 > &	acc (void) const
	Get X, Y and Z components of acceleration.
const float &	acc_X (void) const
	Get X component of acceleration.
const float &	acc_Y (void) const
	Get Y component of acceleration.
const float &	acc_Z (void) const
	Get Z component of acceleration.
const float &	temperature (void) const
	Get sensor temperature.

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Detailed Description

Driver for sensor MPU_6050 imu.

This sensor is at the same time a accelerometer and a gyroscope The inherited method Accelerometer::update is implemented as MPU_6050::update_acc The inherited method Gyroscope::update is implemented as MPU_6050::update_gyr

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Constructor & Destructor Documentation

Mpu_6050::Mpu_6050

(

I2c &

i2c

)

Constructor.

Parameters:

i2c	Reference to I2C device

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Member Function Documentation

const std::array< float, 3 > & Mpu_6050::acc

(

void

)

const [virtual]

Get X, Y and Z components of acceleration.

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

Implements Accelerometer.

const float & Mpu_6050::acc_X

(

void

)

const [virtual]

Get X component of acceleration.

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

Implements Accelerometer.

const float & Mpu_6050::acc_Y

(

void

)

const [virtual]

Get Y component of acceleration.

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

Implements Accelerometer.

const float & Mpu_6050::acc_Z

(

void

)

const [virtual]

Get Z component of acceleration.

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

Implements Accelerometer.

const std::array< float, 3 > & Mpu_6050::gyro

(

void

)

const [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

Implements Gyroscope.

const float & Mpu_6050::gyro_X

(

void

)

const [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

Implements Gyroscope.

const float & Mpu_6050::gyro_Y

(

void

)

const [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

Implements Gyroscope.

const float & Mpu_6050::gyro_Z

(

void

)

const [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

Implements Gyroscope.

bool Mpu_6050::init

(

void

)

[virtual]

Initialise the sensor.

Sends configuration via I2C, the I2C peripheral must be activated before this method is called

Returns:

true Success

false Failed

Implements Accelerometer.

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const float & Mpu_6050::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Accelerometer.

const float & Mpu_6050::temperature

(

void

)

const [virtual]

Get sensor temperature.

Returns:

Value

Implements Accelerometer.

bool Mpu_6050::update_acc

(

void

)

[virtual]

Main update function.

Get new data from the sensor

Returns:

true Success

false Failed

Implements Mpu_6050_acc.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/mpu_6050.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/mpu_6050.cpp