Struct FusionAhrs

pub struct FusionAhrs { /* private fields */ }

AHRS algorithm structure.

Implementations

impl FusionAhrs

pub fn new() -> Self

Create a new FusionAhrs instance.

pub fn set_settings(&mut self, settings: Settings)

Sets the AHRS algorithm settings.

pub fn reset(&mut self)

Resets the AHRS algorithm. This is equivalent to reinitialising the algorithm while maintaining the current settings.

pub fn update( &mut self, gyroscope: Vector, accelerometer: Vector, magnetometer: Vector, delta_time: f32, )

Updates the AHRS algorithm using the gyroscope, accelerometer, and magnetometer measurements.

Arguments:

• gyroscope: Gyroscope measurement in degrees per second.
• accelerometer: Accelerometer measurement in g.
• magnetometer: Magnetometer measurement in arbitrary units.
• delta_time: Delta time in seconds.

pub fn update_no_magnetometer( &mut self, gyroscope: Vector, accelerometer: Vector, delta_time: f32, )

Updates the AHRS algorithm using the gyroscope and accelerometer measurements only.

Arguments:

• gyroscope: Gyroscope measurement in degrees per second.
• accelerometer: Accelerometer measurement in g.
• delta_time: Delta time in seconds.

pub fn update_external_heading( &mut self, gyroscope: Vector, accelerometer: Vector, heading: f32, delta_time: f32, )

Updates the AHRS algorithm using the gyroscope, accelerometer, and heading measurements.

Arguments:

• gyroscope: Gyroscope measurement in degrees per second.
• accelerometer: Accelerometer measurement in g.
• heading: Heading measurement in degrees.
• delta_time: Delta time in seconds.

pub fn set_heading(&mut self, heading: f32)

Sets the heading of the orientation measurement provided by the AHRS algorithm.

This function can be used to reset drift in heading when the AHRS algorithm is being used without a magnetometer.

pub fn get_quaternion(&self) -> Quaternion

Returns the quaternion describing the sensor relative to the Earth.

pub fn set_quaternion(&mut self, quaternion: Quaternion)

Sets the quaternion describing the sensor relative to the Earth.

pub fn get_linear_acceleration(&self) -> Vector

Returns the linear acceleration measurement equal to the accelerometer measurement with the 1g of gravity removed.

pub fn get_earth_acceleration(&self) -> Vector

Returns the Earth acceleration measurement equal to the accelerometer measurement in the Earth coordinate frame with the 1g of gravity removed.

pub fn get_internal_states(&self) -> InternalStates

Returns the AHRS algorithm internal states.

pub fn get_flags(&self) -> Flags

Returns the AHRS algorithm flags.

Trait Implementations

impl Default for FusionAhrs

fn default() -> Self

Returns the “default value” for a type.