laeImu.h File Reference

Laelaps built-in Inertial Measurement Unit class interface. More...

#include <pthread.h>
#include <string>
#include "rnr/rnrconfig.h"
#include "Laelaps/laelaps.h"
#include "Laelaps/laeDesc.h"
#include "Laelaps/laeTune.h"

Go to the source code of this file.

Classes
class	sensor::imu::Quaternion
	Quaternion class. More...
class	sensor::imu::LaeImu
struct	sensor::imu::msp::MspIdent
	Board identity structure. More...
class	sensor::imu::LaeImuCleanFlight

Namespaces
	sensor
	The sensor namespace.
	sensor::imu::msp
	Multiwii Serial Protocal Interface.

Macros
#define	STATIC_STR   static const char* const

Enumerations
enum	sensor::imu::Axis {   sensor::imu::X = 0,   sensor::imu::Y = 1,   sensor::imu::Z = 2 }
	Axes indices. More...
enum	sensor::imu::RPY {   sensor::imu::ROLL = 0,   sensor::imu::PITCH = 1,   sensor::imu::YAW = 2 }
	Roll, pitch, and yaw indices. More...

Variables
const int	sensor::imu::NumOfAxes = 3
	maximum number of axes per sensor component.
static const char *const	sensor::imu::msp::MspPreamble = "$M"
	message preamble
static const char *const	sensor::imu::msp::MspDirTo = "<"
	to imu
static const char *const	sensor::imu::msp::MspDirFrom = ">"
	from imu
static const char *const	sensor::imu::msp::MspCmdPreamble = "$M<"
	command preamble
static const char *const	sensor::imu::msp::MspRspPreamble = "$M>"
	response preamble
static const int	sensor::imu::msp::MspFieldPosDir = 3
	dir field position
static const int	sensor::imu::msp::MspFieldPosSize = 3
	data size field position
static const int	sensor::imu::msp::MspFieldPosCmdId = 4
	command id field position
static const int	sensor::imu::msp::MspFieldPosDataStart = 5
	data start field position
static const int	sensor::imu::msp::MspCmdHdrLen = 5
	command header len
static const int	sensor::imu::msp::MspCmdMinLen = 6
	MspCmdHdrLen+1 command min len.
static const int	sensor::imu::msp::MspCmdMaxLen = 32
	response max len
static const int	sensor::imu::msp::MspRspHdrLen = 5
	response header len
static const int	sensor::imu::msp::MspRspMinLen = 6
	MspRspHdrLen+1 response min len.
static const int	sensor::imu::msp::MspRspMaxLen = 32
	response max len
static const uint_t	sensor::imu::msp::MspCmdIdIdent = 100
	read board/sensor idents
static const uint_t	sensor::imu::msp::MspCmdIdRawImu = 102
	read raw imu data
static const uint_t	sensor::imu::msp::MspCmdIdAttitude = 108
	read raw attitude data
static const double	sensor::imu::msp::MspGToMPerSec2 = 9.80665
	standard g in m/s^2
static const double	sensor::imu::msp::MspMpu6050RawToG = 1.0 / 512.0
	MPU-6050 acceleration raw value to g's.
static const double	sensor::imu::msp::MspMpu6050RawToDegPerSec = 1.0 / 4.096
	MPU-6050 rotation raw value to degrees/second.
static const double	sensor::imu::msp::MspAttitudeRawToDeg = 0.1
	board computed attitude raw value to degreess

Detailed Description

Laelaps built-in Inertial Measurement Unit class interface.

The current Laelaps uses the open-source CleanFlight firmware loaded on a Naze32 controller. The interface is serial USB.

See also

https://github.com/cleanflight

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2015-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file laeImu.h.

Enumeration Type Documentation

enum sensor::imu::Axis

Axes indices.

Enumerator
X	x axis index
Y	y axis index
Z	z axis index

Definition at line 91 of file laeImu.h.

    {
      X = 0,    ///< x axis index
      Y = 1,    ///< y axis index
      Z = 2     ///< z axis index
    };

enum sensor::imu::RPY

Roll, pitch, and yaw indices.

Enumerator
ROLL	roll index
PITCH	pitch index
YAW	yaw index

Definition at line 103 of file laeImu.h.

    {
      ROLL  = 0,  ///< roll index
      PITCH = 1,  ///< pitch index  
      YAW   = 2   ///< yaw index
    };