ImuData Struct Reference

IMU raw data. More...

#include <objects.h>

Public Attributes
int32_t	accs_mg [3]
	Raw accelerations (in g).
int32_t	gyros_mdps [3]
	Raw angular velocities (in mdeg/s).
int32_t	mags_mG [3]
	Raw magnetic field (in mG).
float	gyros_offset [3]
	Gyrometer offsets (in mdeg/s).

Detailed Description

IMU raw data.

The struct contains the raw data from the IMU (not rotated) and the offsets of the gyrometers:

• Accelerations are in g.
• Angular velocities are in mdeg/s.
• Magnetic field is in mG. Accelerations and angular velocities are expressed in the accelorometer-fixed frame, while the magnetic field in the magnetometer-fixed frame.

See also

Constants

Member Data Documentation

accs_mg

int32_t ImuData::accs_mg[3]

Raw accelerations (in g).

x,y,z values are expressed in the accelorometer-fixed frame.

See also

ACC_SCALE

gyros_mdps

int32_t ImuData::gyros_mdps[3]

Raw angular velocities (in mdeg/s).

x,y,z values are expressed in the accelorometer-fixed frame.

See also

GYRO_SCALE

gyros_offset

float ImuData::gyros_offset[3]

Gyrometer offsets (in mdeg/s).

See also

GYROX_OFFSET GYROY_OFFSET GYROZ_OFFSET

mags_mG

int32_t ImuData::mags_mG[3]

Raw magnetic field (in mG).

x,y,z values are expressed in the magnetometer-fixed frame.

See also

MAG_SCALE