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Add acc and gyro accumulators to improve attitude estimation

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This commit is contained in:
Martin Budden 2017-11-26 20:20:48 +00:00
parent d3d5b107cc
commit 22c672fa7d
9 changed files with 79 additions and 14 deletions
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4
src/main/sensors/gyro.h
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@ -18,6 +18,7 @@
#pragma once
#include "common/axis.h"
#include "common/time.h"
#include "config/parameter_group.h"
#include "drivers/bus.h"
#include "drivers/sensor.h"
@ -69,7 +70,8 @@ PG_DECLARE(gyroConfig_t, gyroConfig);
bool gyroInit(void);
void gyroInitFilters(void);
void gyroUpdate(void);
void gyroUpdate(timeUs_t currentTimeUs);
bool gyroGetAccumulationAverage(float *accumulation);
const busDevice_t *gyroSensorBus(void);
struct mpuConfiguration_s;
const struct mpuConfiguration_s *gyroMpuConfiguration(void);