inertial_nav_system.h File Reference

#include <Wire.h>
#include <Arduino.h>
#include <math.h>
#include "debugging.h"
#include "maths/vectors.h"
#include "gravity_computer.h"
#include "hummingbird_config.h"
#include "sensor_drivers/fxas21002_gyro.h"
#include "sensor_drivers/fxos8700_accelmag.h"
#include "sensor_drivers/sensor_calib_params.h"
#include "filters/low_pass_filter.h"

Go to the source code of this file.

Classes
class	InertialNavSystem
	Constructor for the InertialNavSystem class. More...

Variables
constexpr float	INS_ACCEL_LPF_SF = 0.95f
	The inertial sensor software system brings together the accelerometer and gyro, sensors to form the Inertial Navigation System. More...
constexpr uint32_t	INS_BIAS_INIT_TIME = 1000
constexpr GyroRanges_t	INS_GYRO_RANGE = GYRO_RNG_1000DPS
constexpr AccelRanges_t	INS_ACCEL_RANGE = ACCEL_RNG_4G
InertialNavSystem &	INS

Variable Documentation

INS

InertialNavSystem& INS

extern

INS_ACCEL_LPF_SF

constexpr float INS_ACCEL_LPF_SF = 0.95f

constexpr

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.

INS_ACCEL_RANGE

constexpr AccelRanges_t INS_ACCEL_RANGE = ACCEL_RNG_4G

constexpr

INS_BIAS_INIT_TIME

constexpr uint32_t INS_BIAS_INIT_TIME = 1000

constexpr

INS_GYRO_RANGE

constexpr GyroRanges_t INS_GYRO_RANGE = GYRO_RNG_1000DPS

constexpr