Struct dcmimu::DCMIMU

pub struct DCMIMU { /* fields omitted */ }

Implementations

impl DCMIMU

pub fn new() -> Self

New

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

Returns all angles (yaw, roll, pitch)

pub fn yaw(&self) -> f32

Returns current yaw estimation.

pub fn pitch(&self) -> f32

Returns current pitch estimation.

pub fn roll(&self) -> f32

Returns current roll estimation.

pub fn gyro_biases(&self) -> GyroBiases

Returns current value of gyro biases.