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Add filters for precision loss and reducing potential drift

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-05 23:36:33 +02:00
parent 17f944ae5e
commit 3f91741cfa
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GPG key ID: D850A5F772E880F9
2 changed files with 66 additions and 0 deletions
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8
interface_lib/include/device3.h
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@ -66,6 +66,12 @@ enum device3_event_t {
struct device3_ahrs_t;
struct device3_calibration_t;
struct device3_filters_t {
float angular_velocity [3 * 4];
float acceleration [3 * 4];
float magnetic [3 * 4];
};
struct device3_vec3_t {
float x;
float y;
@ -84,6 +90,7 @@ typedef enum device3_event_t device3_event_type;
typedef struct device3_ahrs_t device3_ahrs_type;
typedef struct device3_calibration_t device3_calibration_type;
typedef struct device3_filters_t device3_filters_type;
typedef struct device3_vec3_t device3_vec3_type;
typedef struct device3_quat_t device3_quat_type;
@ -119,6 +126,7 @@ struct device3_t {
device3_event_callback callback;
device3_calibration_type* calibration;
device3_filters_type filters;
};
typedef struct device3_t device3_type;