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Accel and gyro drivers: Add integrals

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Lorenz Meier
2015-08-19 10:16:35 +02:00
parent d779aa0402
commit 62f37204be
2 changed files with 8 additions and 0 deletions
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src/drivers/drv_accel.h
+4
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@@ -57,10 +57,14 @@
*/
struct accel_report {
uint64_t timestamp;
uint64_t integral_dt; /**< integration time */
uint64_t error_count;
float x; /**< acceleration in the NED X board axis in m/s^2 */
float y; /**< acceleration in the NED Y board axis in m/s^2 */
float z; /**< acceleration in the NED Z board axis in m/s^2 */
float x_integral; /**< velocity in the NED X board axis in m/s over the integration time frame */
float y_integral; /**< velocity in the NED Y board axis in m/s over the integration time frame */
float z_integral; /**< velocity in the NED Z board axis in m/s over the integration time frame */
float temperature; /**< temperature in degrees celsius */
float range_m_s2; /**< range in m/s^2 (+- this value) */
float scaling;
src/drivers/drv_gyro.h
+4
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@@ -57,10 +57,14 @@
*/
struct gyro_report {
uint64_t timestamp;
uint64_t integral_dt; /**< integration time */
uint64_t error_count;
float x; /**< angular velocity in the NED X board axis in rad/s */
float y; /**< angular velocity in the NED Y board axis in rad/s */
float z; /**< angular velocity in the NED Z board axis in rad/s */
float x_integral; /**< delta angle in the NED X board axis in rad/s in the integration time frame */
float y_integral; /**< delta angle in the NED Y board axis in rad/s in the integration time frame */
float z_integral; /**< delta angle in the NED Z board axis in rad/s in the integration time frame */
float temperature; /**< temperature in degrees celcius */
float range_rad_s;
float scaling;