calibration.h File Reference

Calibration helper functions. More...

#include <zsl/zsl.h>
#include <zsl/vectors.h>
#include <zsl/matrices.h>
#include <zsl/orientation/quaternions.h>
#include <zsl/orientation/ahrs.h>
#include <zsl/statistics.h>

Go to the source code of this file.

Functions
int	zsl_fus_cal_rot_mtx (struct zsl_vec *v, struct zsl_mtx *m, struct zsl_vec *v_rot)
	Rotates accel/mag/gyro data using a given rotation matrix. More...
int	zsl_fus_cal_rot_axis_angle (struct zsl_vec *v, struct zsl_vec *a, zsl_real_t *b, struct zsl_vec *v_rot)
	Rotates accel/mag/gyro data using a given axis and angle. More...
int	zsl_fus_cal_magn (struct zsl_mtx *m, zsl_real_t *l, zsl_real_t *mu, struct zsl_mtx *K, struct zsl_vec *b)
	This function calculates the soft iron ('K') and the hard iron ('b') errors in the magnetometer data, using the Levenberg–Marquardt algorithm and spherical and ellipsoid fitting. More...
int	zsl_fus_cal_magn_fast (struct zsl_mtx *m, zsl_real_t *me, struct zsl_mtx *K, struct zsl_vec *b)
	This function calculates the soft iron ('K') and the hard iron ('b') errors in the magnetometer data, using the least squares method for ellipsoid fitting. More...
int	zsl_fus_cal_corr_scalar (zsl_real_t *d, zsl_real_t *k, zsl_real_t *b, zsl_real_t *d_out)
	Corrects the supplied scalar number by adding another number ('b') and multiplying the sum by a scalar 'k'. More...
int	zsl_fus_cal_corr_vec (struct zsl_vec *v, struct zsl_mtx *K, struct zsl_vec *b, struct zsl_vec *v_out)
	Corrects the supplied vector data by adding a vector the same size ('b') and then multiplying by a matrix 'K'. More...
int	zsl_fus_cal_madg (struct zsl_mtx *g, struct zsl_mtx *a, struct zsl_mtx *m, zsl_real_t sampleFreq, zsl_real_t *incl, zsl_real_t *beta)
	Calculates the optimal value of the variable beta in the Madgwick filter, given a set of magnetometer, accelerometer and gyroscope readings. More...
int	zsl_fus_cal_mahn (struct zsl_mtx *g, struct zsl_mtx *a, struct zsl_mtx *m, zsl_real_t sampleFreq, zsl_real_t *incl, zsl_real_t *kp)
	Calculates the optimal value of the variable kp in the Mahony filter, given a set of magnetometer, accelerometer and gyroscope readings. This function assumes that the optimal value of ki is 0.02. More...

Detailed Description

Calibration helper functions.

Definition in file calibration.h.