NMagneticHeadingFilterApi Namespace Reference

Classes
struct	SMagnetometerMeasurement
struct	SOutputData

Functions
void	MagneticHeadingFilterSetInput (uint64_t uAttitudeTimeUs, float fRoll, float fPitch)
	Pass new attitude parameters to the filter. Provided inputs must be valid. Validity checks shall be performed by the caller.
void	MagneticHeadingFilterPrepareInputs ()
	Makes a snapshot of inputs. Shall be called in a critical before CMagneticHeadingFilter::Step().
void	MagneticHeadingFilterStep (uint64_t uCurrentTimeUs_, const SMagnetometerMeasurement &orMagnetometerData)
	The routine implements estimation of magnetic heading.
SOutputData	MagneticHeadingFilterGetOutput ()
	Retrieve output data.
void	MagneticHeadingFilterReset ()
	Reset the filter to initial state.

Function Documentation

MagneticHeadingFilterGetOutput()

SOutputData NMagneticHeadingFilterApi::MagneticHeadingFilterGetOutput

(

)

Retrieve output data.

Returns

Output data.

MagneticHeadingFilterPrepareInputs()

void NMagneticHeadingFilterApi::MagneticHeadingFilterPrepareInputs

(

)

Makes a snapshot of inputs. Shall be called in a critical before CMagneticHeadingFilter::Step().

MagneticHeadingFilterReset()

void NMagneticHeadingFilterApi::MagneticHeadingFilterReset

(

)

Reset the filter to initial state.

MagneticHeadingFilterSetInput()

void NMagneticHeadingFilterApi::MagneticHeadingFilterSetInput	(	uint64_t	uAttitudeTimeUs,
		float	fRoll,
		float	fPitch
	)

Pass new attitude parameters to the filter. Provided inputs must be valid. Validity checks shall be performed by the caller.

Parameters

uAttitudeTimeUs	Timestamp of attitude data, [us]
fRoll	Roll angle, [rad], from -pi to pi, including +-pi.
fPitch	Pitch angle, [rad], from -pi/2 to pi/2, NOT including +-pi/2.

MagneticHeadingFilterStep()

void NMagneticHeadingFilterApi::MagneticHeadingFilterStep	(	uint64_t	uCurrentTimeUs_,
		const SMagnetometerMeasurement &	orMagnetometerData
	)

The routine implements estimation of magnetic heading.

Parameters

uCurrentTimeUs_	Current time in microseconds
orMagnetometerData	Magnetometer measurement