1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
|
/*
quat_accuracy_monitor.h
$License:
Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
See included License.txt for License information.
$
*/
/*******************************************************************************
*
* $Id:$
*
******************************************************************************/
#ifndef QUAT_ACCURARCY_MONITOR_H__
#define QUAT_ACCURARCY_MONITOR_H__
#include "mltypes.h"
#ifdef __cplusplus
extern "C" {
#endif
enum accuracy_signal_type_e {
TYPE_NAV_QUAT,
TYPE_GAM_QUAT,
TYPE_NAV_QUAT_ADVANCED,
TYPE_GAM_QUAT_ADVANCED,
TYPE_NAV_QUAT_BASIC,
TYPE_GAM_QUAT_BASIC,
TYPE_MAG,
TYPE_GYRO,
TYPE_ACCEL,
};
inv_error_t inv_init_quat_accuracy_monitor(void);
void set_accuracy_threshold(enum accuracy_signal_type_e type, double threshold);
double get_accuracy_threshold(enum accuracy_signal_type_e type);
void set_accuracy_weight(enum accuracy_signal_type_e type, int weight);
int get_accuracy_weight(enum accuracy_signal_type_e type);
int8_t get_accuracy_accuracy(enum accuracy_signal_type_e type);
void inv_reset_quat_accuracy(void);
double get_6axis_correction_term(void);
double get_9axis_correction_term(void);
int get_9axis_accuracy_state();
void set_6axis_error_average(double value);
double get_6axis_error_bound(void);
double get_compass_correction(void);
double get_9axis_error_bound(void);
float get_confidence_interval(void);
void set_compass_uncertainty(float value);
inv_error_t inv_enable_quat_accuracy_monitor(void);
inv_error_t inv_disable_quat_accuracy_monitor(void);
inv_error_t inv_start_quat_accuracy_monitor(void);
inv_error_t inv_stop_quat_accuracy_monitor(void);
double get_compassNgravity(void);
double get_init_compassNgravity(void);
float inv_heading_accuracy_check(float orient[3], float *heading, int8_t *accuracy);
#ifdef __cplusplus
}
#endif
#endif // QUAT_ACCURARCY_MONITOR_H__
|
