#include <FreeIMU.h>

Public Member Functions
	FreeIMU ()
void	init ()
void	init (bool fastmode)
void	init (int acc_addr, int gyro_addr, bool fastmode)
void	getRawValues (int *raw_values)
void	getValues (float *values)
void	getQ (float *q)
void	getEuler (float *angles)
void	getYawPitchRoll (float *ypr)
void	getEulerRad (float *angles)
void	getYawPitchRollRad (float *ypr)

Data Fields
ADXL345	acc
HMC58X3	magn
ITG3200	gyro
MS561101BA	baro
int *	raw_acc
int	raw_gyro
int	raw_magn

Constructor & Destructor Documentation

FreeIMU::FreeIMU ( )

Member Function Documentation

void FreeIMU::getEuler ( float * angles )

Returns the Euler angles in degrees defined with the Aerospace sequence. See Sebastian O.H. Madwick report "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation

Parameters

angles three floats array which will be populated by the Euler angles in degrees

void FreeIMU::getEulerRad ( float * angles )

Returns the Euler angles in radians defined with the Aerospace sequence. See Sebastian O.H. Madwick report "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation

Parameters

angles three floats array which will be populated by the Euler angles in radians

void FreeIMU::getQ ( float * q )

Populates array q with a quaternion representing the IMU orientation with respect to the Earth

Parameters

q	the quaternion to populate using the q = [ ]

void FreeIMU::getRawValues ( int * raw_values )

void FreeIMU::getValues ( float * values )

void FreeIMU::getYawPitchRoll ( float * ypr )

Returns the yaw pitch and roll angles, respectively defined as the angles in degrees between the Earth North and the IMU X axis (yaw), the Earth ground plane and the IMU X axis (pitch) and the Earth ground plane and the IMU Y axis.

Note: This is not an Euler representation: the rotations aren't consecutive rotations but only angles from Earth and the IMU. For Euler representation Yaw, Pitch and Roll see FreeIMU::getEuler

Parameters

ypr	three floats array which will be populated by Yaw, Pitch and Roll angles in degrees

void FreeIMU::getYawPitchRollRad ( float * ypr )

Returns the yaw pitch and roll angles, respectively defined as the angles in radians between the Earth North and the IMU X axis (yaw), the Earth ground plane and the IMU X axis (pitch) and the Earth ground plane and the IMU Y axis.

Note: This is not an Euler representation: the rotations aren't consecutive rotations but only angles from Earth and the IMU. For Euler representation Yaw, Pitch and Roll see FreeIMU::getEuler

Parameters

ypr	three floats array which will be populated by Yaw, Pitch and Roll angles in radians

void FreeIMU::init ( )

void FreeIMU::init ( bool fastmode )

void FreeIMU::init	(	int	acc_addr,
		int	gyro_addr,
		bool	fastmode
	)

Field Documentation

ADXL345 FreeIMU::acc

MS561101BA FreeIMU::baro

ITG3200 FreeIMU::gyro

HMC58X3 FreeIMU::magn

int* FreeIMU::raw_acc

int FreeIMU::raw_gyro

int FreeIMU::raw_magn

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

Public Member Functions

Data Fields

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation