INDI::IMUSensorFusion Class Reference

Abstract base class for IMU sensor fusion algorithms. More...

#include <imusensorfusion.h>

Inheritance diagram for INDI::IMUSensorFusion:

Public Member Functions
virtual	~IMUSensorFusion ()=default
virtual void	update (double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double dt, bool useMag=true)=0
	Perform one filter update step.
virtual void	getQuaternion (double &w, double &i, double &j, double &k) const =0
	Return the current orientation quaternion.
virtual void	reset ()=0
	Reset the filter to the identity quaternion.

Detailed Description

Abstract base class for IMU sensor fusion algorithms.

Accepts calibrated 9-DOF sensor data (accelerometer, gyroscope, magnetometer) and produces a quaternion representing the orientation of the sensor in the world frame. Gracefully degrades to 6-DOF if magnetometer data is not available.

All inputs use SI units:

• Gyroscope: radians/second
• Accelerometer: m/s² (does not need to be normalised)
• Magnetometer: any consistent unit (µT, mG, etc.) — only direction is used

Definition at line 43 of file imusensorfusion.h.

Constructor & Destructor Documentation

~IMUSensorFusion()

virtual INDI::IMUSensorFusion::~IMUSensorFusion ( )

virtualdefault

Member Function Documentation

getQuaternion()

virtual void INDI::IMUSensorFusion::getQuaternion ( double &  w, double &  i, double &  j, double &  k  ) const

pure virtual

Return the current orientation quaternion.

Parameters

w	Scalar (real) component
i	Vector X component
j	Vector Y component
k	Vector Z component

Implemented in INDI::MadgwickFilter, and INDI::MahonyFilter.

reset()

virtual void INDI::IMUSensorFusion::reset ( )

pure virtual

Reset the filter to the identity quaternion.

Implemented in INDI::MadgwickFilter, and INDI::MahonyFilter.

update()

virtual void INDI::IMUSensorFusion::update ( double  gx, double  gy, double  gz, double  ax, double  ay, double  az, double  mx, double  my, double  mz, double  dt, bool  useMag = true  )

pure virtual

Perform one filter update step.

Parameters

gx	Gyroscope X-axis angular rate (rad/s)
gy	Gyroscope Y-axis angular rate (rad/s)
gz	Gyroscope Z-axis angular rate (rad/s)
ax	Accelerometer X-axis (m/s² or any unit — only direction used)
ay	Accelerometer Y-axis
az	Accelerometer Z-axis
mx	Magnetometer X-axis (µT or any consistent unit)
my	Magnetometer Y-axis
mz	Magnetometer Z-axis
dt	Time step in seconds since last update
useMag	If false the magnetometer data is ignored (6-DOF mode)

Implemented in INDI::MadgwickFilter, and INDI::MahonyFilter.

---

The documentation for this class was generated from the following file:

• imusensorfusion.h