MagCompass Class Reference

Decide whether or not to rotate magnetometer measurements. More...

#include <compass.h>

Public Member Functions
	MagCompass (TwoWire *userWire=&SENSOR_I2C)
	The compass class is in charge of taking magnetometer measurements and computing tilt-compensated (magnetic) heading. More...
	~MagCompass ()
	MagCompass (const MagCompass &)=delete
MagCompass &	operator= (const MagCompass &)=delete
bool	Initialize ()
	Initialize the compass. More...
bool	Update ()
	Update the compass. More...
float	GetHeading (Vectorf AccelMeas)
	Compute and return tilt-compensated magnetic heading based on accelerometer data. More...

Static Public Member Functions
static MagCompass &	GetInstance ()

Public Attributes
uint32_t	prevUpdateMicros
Vectorf	Mag
Vectorf	MagRaw

Private Attributes
float	heading
LIS3MDL_Mag	MagSensor
LIS3MDL_MeasRange_t	magMeasRange
TwoWire *	SensorWire

Detailed Description

Decide whether or not to rotate magnetometer measurements.

The Magnetometer in the GPS is upside down and rotated. By default, apply rotations to align measurements with the body frame.

Constructor & Destructor Documentation

MagCompass() [1/2]

MagCompass::MagCompass

(

TwoWire *

userWire = &SENSOR_I2C

)

The compass class is in charge of taking magnetometer measurements and computing tilt-compensated (magnetic) heading.

Constructor for the compass class. Be sure to specify the I2C bus that the sensor is connected to.

Parameters

userWire

I2C bus the compass is connected to. Default Wire2

~MagCompass()

MagCompass::~MagCompass

(

)

MagCompass() [2/2]

MagCompass::MagCompass ( const MagCompass &  )

delete

Member Function Documentation

GetHeading()

float MagCompass::GetHeading

(

Vectorf

AccelMeas

)

Compute and return tilt-compensated magnetic heading based on accelerometer data.

Tilt-compensation equations can be found in: https://www.cypress.com/file/130456/download

Parameters

AccelMeas

[m/s/s] Vectorf of accelerometer measurements

Returns

[rad] Tilt-compensated heading

GetInstance()

MagCompass & MagCompass::GetInstance ( )

static

Initialize()

bool MagCompass::Initialize

(

)

Initialize the compass.

Configures magnetometer sensor.

Returns

True is success, false if not.

operator=()

MagCompass& MagCompass::operator= ( const MagCompass &  )

delete

Update()

bool MagCompass::Update

(

)

Update the compass.

Record magnetometer data, rotate sensor data to the body frame, and apply calibration.

Returns

True if successful, false if not.

Member Data Documentation

heading

float MagCompass::heading

private

Mag

Vectorf MagCompass::Mag

magMeasRange

LIS3MDL_MeasRange_t MagCompass::magMeasRange

private

MagRaw

Vectorf MagCompass::MagRaw

MagSensor

LIS3MDL_Mag MagCompass::MagSensor

private

prevUpdateMicros

uint32_t MagCompass::prevUpdateMicros

SensorWire

TwoWire* MagCompass::SensorWire

private

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

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