Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

SensorFusion.h@35:fb6e4601adf3, 2015-05-08 (annotated)

Committer:
pvaibhav
Date:
Fri May 08 06:20:18 2015 +0000
Revision:
35:fb6e4601adf3
Parent:
34:01dec68de3ed
Child:
40:8e852115fe55
Child:
41:731e3cfac19b
white LED control added, 6-axis sensor fusion added (enabled by default)

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 34:01dec68de3ed 16 virtual void sensorTick(float dt, 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 34:01dec68de3ed 26 void getMagnetometerCalibration(Vector3 &min, Vector3 &max);
pvaibhav 15:4488660e1a3b 27
pvaibhav 15:4488660e1a3b 28 private:
pvaibhav 21:5a0c9406e119 29 Delegate defaultDelegate; // to avoid check for existence every time
pvaibhav 20:503cbe360419 30 Delegate* delegate;
pvaibhav 15:4488660e1a3b 31 Accelerometer accel;
pvaibhav 15:4488660e1a3b 32 Gyroscope gyro;
pvaibhav 15:4488660e1a3b 33 Magnetometer magneto;
pvaibhav 15:4488660e1a3b 34 Quaternion q;
pvaibhav 21:5a0c9406e119 35 float const deltat, beta;
pvaibhav 34:01dec68de3ed 36 Vector3 fused;
pvaibhav 35:fb6e4601adf3 37 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
pvaibhav 15:4488660e1a3b 38 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
pvaibhav 15:4488660e1a3b 39 };
pvaibhav 15:4488660e1a3b 40
pvaibhav 15:4488660e1a3b 41 #endif