Struct dcmimu::DCMIMU [−][src]
pub struct DCMIMU { /* fields omitted */ }Methods
impl DCMIMU[src]
impl DCMIMUpub fn new() -> Self[src]
pub fn new() -> SelfNew
pub fn update(
&mut self,
gyro: (f32, f32, f32),
accel: (f32, f32, f32),
dt: f32
) -> (EulerAngles, GyroBiases)[src]
pub fn update(
&mut self,
gyro: (f32, f32, f32),
accel: (f32, f32, f32),
dt: f32
) -> (EulerAngles, GyroBiases)Updates DCMIMU states with gyro (x, y, z), accel (x, y, z), and dt (seconds) and returns current estimations and current gyroscope biases({roll; yaw; pitch}, {gbx, gby, gbz}). Angles are in rad, biases are in rad/s.
pub fn all(&self) -> EulerAngles[src]
pub fn all(&self) -> EulerAnglesReturns all angles (yaw, roll, pitch)
pub fn yaw(&self) -> f32[src]
pub fn yaw(&self) -> f32Returns current yaw estimation.
pub fn pitch(&self) -> f32[src]
pub fn pitch(&self) -> f32Returns current pitch estimation.
pub fn roll(&self) -> f32[src]
pub fn roll(&self) -> f32Returns current roll estimation.
pub fn gyro_biases(&self) -> GyroBiases[src]
pub fn gyro_biases(&self) -> GyroBiasesReturns current value of gyro biases.