Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

SensorFusion.h@21:5a0c9406e119, 2015-04-09 (annotated)

Committer:
pvaibhav
Date:
Thu Apr 09 11:54:48 2015 +0000
Revision:
21:5a0c9406e119
Parent:
20:503cbe360419
Child:
26:8f3e4e1a3acc
Refactoring complete (not heavily tested, compiles)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 15:4488660e1a3b 1 #ifndef _H_SENSORFUSION_H
pvaibhav 15:4488660e1a3b 2 #define _H_SENSORFUSION_H
pvaibhav 15:4488660e1a3b 3
pvaibhav 15:4488660e1a3b 4 #include "I2CPeripheral.h"
pvaibhav 15:4488660e1a3b 5 #include "Magnetometer.h"
pvaibhav 15:4488660e1a3b 6 #include "Accelerometer.h"
pvaibhav 15:4488660e1a3b 7 #include "Gyroscope.h"
pvaibhav 15:4488660e1a3b 8 #include "Quaternion.h"
pvaibhav 15:4488660e1a3b 9
pvaibhav 15:4488660e1a3b 10 class SensorFusion : public Sensor::Delegate
pvaibhav 15:4488660e1a3b 11 {
pvaibhav 15:4488660e1a3b 12 public:
pvaibhav 20:503cbe360419 13 class Delegate
pvaibhav 20:503cbe360419 14 {
pvaibhav 21:5a0c9406e119 15 public:
pvaibhav 21:5a0c9406e119 16 virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
pvaibhav 20:503cbe360419 17 };
pvaibhav 20:503cbe360419 18
pvaibhav 15:4488660e1a3b 19 SensorFusion(I2C &i2c);
pvaibhav 20:503cbe360419 20 void setDelegate(Delegate &d);
pvaibhav 15:4488660e1a3b 21
pvaibhav 15:4488660e1a3b 22 bool start();
pvaibhav 15:4488660e1a3b 23 void stop();
pvaibhav 15:4488660e1a3b 24
pvaibhav 15:4488660e1a3b 25 virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback
pvaibhav 15:4488660e1a3b 26
pvaibhav 15:4488660e1a3b 27 private:
pvaibhav 21:5a0c9406e119 28 Delegate defaultDelegate; // to avoid check for existence every time
pvaibhav 20:503cbe360419 29 Delegate* delegate;
pvaibhav 15:4488660e1a3b 30 Accelerometer accel;
pvaibhav 15:4488660e1a3b 31 Gyroscope gyro;
pvaibhav 15:4488660e1a3b 32 Magnetometer magneto;
pvaibhav 15:4488660e1a3b 33 Quaternion q;
pvaibhav 21:5a0c9406e119 34 float const deltat, beta;
pvaibhav 15:4488660e1a3b 35 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
pvaibhav 17:e9d42864c8a1 36 Vector3 eulerAngles(Quaternion const &q) const;
pvaibhav 15:4488660e1a3b 37 };
pvaibhav 15:4488660e1a3b 38
pvaibhav 15:4488660e1a3b 39 #endif