sensors

Documentation

Index

• type BMPData
• type IMUCalData
  • func (d *IMUCalData) Load() (err error)
  • func (d *IMUCalData) Reset()
  • func (d *IMUCalData) Save()
• type IMUData
• type IMUSensor
• type PressureSensor

Types

type BMPData

type BMPData struct {
	Temperature float64
	Pressure    float64
	T           time.Duration
}

type IMUCalData

type IMUCalData struct {
	A01, A02, A03    float64 // Accelerometer hardware bias
	G01, G02, G03    float64 // Gyro hardware bias
	M01, M02, M03    float64 // Magnetometer hardware bias
	Ms11, Ms12, Ms13 float64 // Magnetometer rescaling matrix
	Ms21, Ms22, Ms23 float64 // (Only diagonal is used currently)
	Ms31, Ms32, Ms33 float64
}

func (*IMUCalData) Load

func (d *IMUCalData) Load() (err error)

func (*IMUCalData) Reset

func (d *IMUCalData) Reset()

func (*IMUCalData) Save

func (d *IMUCalData) Save()

type IMUData

type IMUData struct {
	G1, G2, G3        float64
	A1, A2, A3        float64
	M1, M2, M3        float64
	Temp              float64
	GAError, MagError error
	N, NM             int
	T, TM             time.Time
	DT, DTM           time.Duration
}

IMUData contains all the values measured by an MPU9250, ICM20948 or equivalent.

type IMUSensor

type IMUSensor struct {
	C    <-chan *IMUData // Current instantaneous sensor values
	CAvg <-chan *IMUData // Average sensor values (since CAvg last read)
	CBuf <-chan *IMUData // Buffer of instantaneous sensor values
}

type PressureSensor

type PressureSensor struct {
	C    <-chan *BMPData
	CBuf <-chan *BMPData
}