InertialNavSystem Class Reference

Constructor for the InertialNavSystem class. More...

#include <inertial_nav_system.h>

Public Member Functions
	InertialNavSystem ()
	The inertial sensor software system brings together the accelerometer and gyro, sensors to form the Inertial Navigation System. More...
	~InertialNavSystem ()
	InertialNavSystem (const InertialNavSystem &)=delete
InertialNavSystem &	operator= (const InertialNavSystem &)=delete
void	SetSampleRate (float fs_hz)
bool	Initialize ()
	Initialize the INS. More...
bool	Update ()
	Record accelerometer and gyro measurements, apply noise filters, and update accel. More...
float	GetAccelPitch ()
float	GetAccelRoll ()

Static Public Member Functions
static InertialNavSystem &	GetInstance ()

Public Attributes
Vectorf	Gyro
Vectorf	GyroRaw
Vectorf	GyroTOBias
Vectorf	Accel
Vectorf	AccelRaw
Vectorf	AccelTOBias
uint32_t	prevUpdateMicros

Private Member Functions
void	UpdateAccelAngles ()
	Compute accelerometer roll and pitch angles. More...
bool	MeasureInitGyroBiases (uint32_t samplePeriod)
	Measure initial gyro turn-on biases. More...
bool	MeasureInitAccelBiases (uint32_t samplePeriod)
	Measure initial accelerometer turn-on bias. More...

Private Attributes
float	roll
float	pitch
FXOS8700AccelMag	AccelMagSensor
FXAS21002Gyro	GyroSensor
LowPassFilter	AxLPF
LowPassFilter	AyLPF
LowPassFilter	AzLPF

Detailed Description

Constructor for the InertialNavSystem class.

This system provides an interface to manage sensor readings, filtering raw measurements for noise, and applying calibration parameters.

Constructor & Destructor Documentation

InertialNavSystem() [1/2]

InertialNavSystem::InertialNavSystem

(

)

The inertial sensor software system brings together the accelerometer
and gyro, sensors to form the Inertial Navigation System.

This system provides an interface to manage sensor readings, filtering raw measurements for noise, and applying calibration parameters. Constructor for the InertialNavSystem class. This system provides an interface to manage sensor readings, filtering raw measurements for noise, and applying calibration parameters.

~InertialNavSystem()

InertialNavSystem::~InertialNavSystem

(

)

InertialNavSystem() [2/2]

InertialNavSystem::InertialNavSystem ( const InertialNavSystem &  )

delete

Member Function Documentation

GetAccelPitch()

float InertialNavSystem::GetAccelPitch

(

)

GetAccelRoll()

float InertialNavSystem::GetAccelRoll

(

)

GetInstance()

InertialNavSystem & InertialNavSystem::GetInstance ( )

static

Initialize()

bool InertialNavSystem::Initialize

(

)

Initialize the INS.

This function connects to the gyro and accelerometer, and measures gyro and accelerometer turn-on biases (used to initialize the EKF).

Returns

true if successfully init'd, false if not.

MeasureInitAccelBiases()

bool InertialNavSystem::MeasureInitAccelBiases ( uint32_t  samplePeriod )

private

Measure initial accelerometer turn-on bias.

Parameters

samplePeriod

[ms] Sample period/delay between samples. Use this to set sample rate for recording turn-on biases.

Returns

True if successful, false if not

MeasureInitGyroBiases()

bool InertialNavSystem::MeasureInitGyroBiases ( uint32_t  samplePeriod )

private

Measure initial gyro turn-on biases.

Parameters

samplePeriod

[ms] Sample period/delay between samples. Use this to set sample rate for recording turn-on biases.

Returns

True if successful, false if not

operator=()

InertialNavSystem& InertialNavSystem::operator= ( const InertialNavSystem &  )

delete

SetSampleRate()

void InertialNavSystem::SetSampleRate

(

float

fs_hz

)

Update()

bool InertialNavSystem::Update

(

)

Record accelerometer and gyro measurements, apply noise filters, and update accel.

roll/pitch angles.

Returns

True if success, false if not.

UpdateAccelAngles()

void InertialNavSystem::UpdateAccelAngles ( )

private

Compute accelerometer roll and pitch angles.

Member Data Documentation

Accel

Vectorf InertialNavSystem::Accel

AccelMagSensor

FXOS8700AccelMag InertialNavSystem::AccelMagSensor

private

AccelRaw

Vectorf InertialNavSystem::AccelRaw

AccelTOBias

Vectorf InertialNavSystem::AccelTOBias

AxLPF

LowPassFilter InertialNavSystem::AxLPF

private

AyLPF

LowPassFilter InertialNavSystem::AyLPF

private

AzLPF

LowPassFilter InertialNavSystem::AzLPF

private

Gyro

Vectorf InertialNavSystem::Gyro

GyroRaw

Vectorf InertialNavSystem::GyroRaw

GyroSensor

FXAS21002Gyro InertialNavSystem::GyroSensor

private

GyroTOBias

Vectorf InertialNavSystem::GyroTOBias

pitch

float InertialNavSystem::pitch

private

prevUpdateMicros

uint32_t InertialNavSystem::prevUpdateMicros

roll

float InertialNavSystem::roll

private

---

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

• include/sensor_systems/inertial_nav_system.h
• src/sensor_systems/inertial_nav_system.cpp