Struct Fusion

pub struct Fusion {
    pub gyr_misalignment: FusionMatrix,
    pub gyr_sensitivity: FusionVector,
    pub gyr_offset: FusionVector,
    pub acc_misalignment: FusionMatrix,
    pub acc_sensitivity: FusionVector,
    pub acc_offset: FusionVector,
    pub soft_iron_matrix: FusionMatrix,
    pub hard_iron_offset: FusionVector,
    pub ahrs: FusionAhrs,
    pub offset: FusionGyrOffset,
    pub last_timestamp: f32,
}

Fields

gyr_misalignment: FusionMatrix

gyr_sensitivity: FusionVector

gyr_offset: FusionVector

acc_misalignment: FusionMatrix

acc_sensitivity: FusionVector

acc_offset: FusionVector

soft_iron_matrix: FusionMatrix

hard_iron_offset: FusionVector

ahrs: FusionAhrs

offset: FusionGyrOffset

last_timestamp: f32

Implementations

impl Fusion

pub fn new(sample_rate: u32, ahrs_settings: FusionAhrsSettings) -> Self

pub fn inertial_calibration( &self, uncalibrated: FusionVector, misalignment: FusionMatrix, sensitivity: FusionVector, offset: FusionVector, ) -> FusionVector

pub fn magnetic_calibration( &self, uncalibrated: FusionVector, soft_iron_matrix: FusionMatrix, hard_iron_offset: FusionVector, ) -> FusionVector

pub fn update_no_mag( &mut self, gyr: FusionVector, acc: FusionVector, timestamp: f32, )

Updates the AHRS algorithm based on gyroscope data in degrees/s and acceleration data in g force.

The time is provided using an absolute timestamp in seconds since the first measurement. Note that if you provide unix timestamps, the precision of f32 will not be enough to correctly compute the time difference.

Examples

use imu_fusion::{Fusion, FusionVector, FusionAhrsSettings};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = imu_fusion::Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);
let mut current_ts = 0f32;

loop {
    let gyr = FusionVector::new(0f32, 0f32, 0f32); // replace this with actual gyroscope data in degrees/s
    let acc = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual accelerometer data in g
    fusion.update_no_mag(gyr, acc, current_ts);
    current_ts += 1.0 / SAMPLE_RATE_HZ as f32
}

pub fn update_no_mag_by_duration_seconds( &mut self, gyr: FusionVector, acc: FusionVector, delta_t: f32, )

Updates the AHRS algorithm based on gyroscope data in degrees/s and acceleration data in g force.

The time is provided as a duration in seconds since the last measurement. Note that this won’t increase the internal timestamp and using the timestamp version of update functions will produce incorrect results.

Examples

use imu_fusion::{Fusion, FusionVector, FusionAhrsSettings};
use std::time::{Duration, Instant};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = imu_fusion::Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);
let mut last_ts = Instant::now();

loop {
    let gyr = FusionVector::new(0f32, 0f32, 0f32); // replace this with actual gyroscope data in degrees/s
    let acc = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual accelerometer data in g
    fusion.update_no_mag_by_duration_seconds(gyr, acc, last_ts.elapsed().as_secs_f32());
    last_ts = Instant::now();
}

pub fn update_external_heading( &mut self, gyr: FusionVector, acc: FusionVector, heading: f32, timestamp: f32, )

Updates the AHRS algorithm based on gyroscope data in degrees/s, acceleration data in g force and a heading in degrees.

The time is provided using an absolute timestamp in seconds since the first measurement. Note that if you provide unix timestamps, the precision of f32 will not be enough to correctly compute the time difference.

Examples

use imu_fusion::{Fusion, FusionVector, FusionAhrsSettings};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);
let mut current_ts = 0f32;

loop {
    let gyr = FusionVector::new(0f32, 0f32, 0f32); // replace this with actual gyroscope data in degrees/s
    let acc = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual accelerometer data in g
    let external_heading = 0f32; // replace this with actual heading in degrees
    fusion.update_external_heading(gyr, acc, external_heading, current_ts);
    current_ts += 1.0 / SAMPLE_RATE_HZ as f32
}

pub fn update_external_heading_by_duration_seconds( &mut self, gyr: FusionVector, acc: FusionVector, heading: f32, delta_t: f32, )

Updates the AHRS algorithm based on gyroscope data in degrees/s, acceleration data in g force and a heading in degrees.

The time is provided using a duration in seconds since the last measurement. Note that this won’t increase the internal timestamp and using the timestamp version of update functions will produce incorrect results.

Examples

use imu_fusion::{Fusion, FusionVector, FusionAhrsSettings};
use std::time::{Duration, Instant};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);
let mut last_ts = Instant::now();

loop {
    let gyr = FusionVector::new(0f32, 0f32, 0f32); // replace this with actual gyroscope data in degrees/s
    let acc = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual accelerometer data in g
    let external_heading = 0f32; // replace this with actual heading in degrees
    fusion.update_external_heading(gyr, acc, external_heading, last_ts.elapsed().as_secs_f32());
    last_ts = Instant::now();
}

pub fn update( &mut self, gyr: FusionVector, acc: FusionVector, mag: FusionVector, timestamp: f32, )

Updates the AHRS algorithm based on gyroscope data in degrees/s, acceleration data in g force and magnetic measurements in degrees.

The time is provided using an absolute timestamp in seconds since the first measurement. Note that if you provide unix timestamps, the precision of f32 will not be enough to correctly compute the time difference.

Examples

use imu_fusion::{Fusion, FusionAhrsSettings, FusionVector};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);
let mut current_ts = 0f32;

loop {
    let gyr = FusionVector::new(0f32, 0f32, 0f32); // replace this with actual gyroscope data in degrees/s
    let acc = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual accelerometer data in g
    let mag = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual magnetic measurement in degrees
    fusion.update(gyr, acc, mag, current_ts);
    current_ts += 1.0 / SAMPLE_RATE_HZ as f32
}

pub fn update_by_duration_seconds( &mut self, gyr: FusionVector, acc: FusionVector, mag: FusionVector, delta_t: f32, )

Updates the AHRS algorithm based on gyroscope data in degrees/s, acceleration data in g force and magnetic measurements in degrees.

The time is provided using a duration in seconds since the last measurement. Note that this won’t increase the internal timestamp and using the timestamp version of update functions will produce incorrect results.

Examples

use imu_fusion::{Fusion, FusionAhrsSettings, FusionVector};
use std::time::{Duration, Instant};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);
let mut last_ts = Instant::now();

loop {
    let gyr = FusionVector::new(0f32, 0f32, 0f32); // replace this with actual gyroscope data in degrees/s
    let acc = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual accelerometer data in g
    let mag = FusionVector::new(0f32, 0f32, 1.0f32); // replace this with actual magnetic measurement in degrees
    fusion.update_by_duration_seconds(gyr, acc, mag, last_ts.elapsed().as_secs_f32());
    last_ts = Instant::now();
}

pub fn euler(&self) -> FusionEuler

Obtain euler angle current sensor position

Euler angles are provided in degrees

Examples

use imu_fusion::{Fusion, FusionAhrsSettings};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);

// ...update sensor values

let euler = fusion.euler();
println!("Roll {}, Pitch {}, Yaw {}", euler.angle.roll, euler.angle.pitch, euler.angle.yaw);

pub fn earth_acc(&self) -> FusionVector

Obtain acceleration of sensor in earth’s frame of reference

The values returned are provided in g force

Examples

use imu_fusion::{Fusion, FusionAhrsSettings, FusionVector};

const SAMPLE_RATE_HZ: u32 = 100;

let ahrs_settings = FusionAhrsSettings::new();
let mut fusion = Fusion::new(SAMPLE_RATE_HZ, ahrs_settings);

// ...update sensor values

let acc = fusion.earth_acc();
println!("x {}, y {}, z {}", acc.x, acc.y, acc.z);

pub fn quaternion(&self) -> FusionQuaternion