Synopsis

typedef struct {
  CTL_ACCELEROMETER_t *accel;
  CTL_GYROSCOPE_t *gyro;
  CTL_MAGNETOMETER_t *mag;
} CTL_IMU_t;

Description

CTL_IMU_t is an abstract IMU comprising accelerometer, gyroscope, and magnetometer which can be combined for sensor fusion applications in other parts of the CrossWorks Target Library.

For instance, an accelerometer, gyroscope, and magnetometer can be fused by the AHRS library to provide a 9DOF orientation estimation. If the magnetometer member is null, the AHRS will provide a 6DOF orientation estimation without long-term yaw correction. The tilt-compensated compass library will fuse magnetometer and accelerometer to provide a good heading estimation irrespective of device orientation.

Structure

accel

The accelerometer instance for this sensor collection.

gyro

The gyroscope instance for this sensor collection. If the sensor collection has no gyroscope, this member must be zero.

mag

The magnetometer instance for this sensor collection. If the sensor collection has no gyroscope, this member must be zero.