calibration.h

Go to the documentation of this file.

/*
 * Copyright (c) 2021 Marti Riba Pons
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_FUSION_CALIBRATION_H_
#define ZEPHYR_INCLUDE_ZSL_FUSION_CALIBRATION_H_
 
#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>
 
#ifdef __cplusplus
extern "C" {
#endif
 
int zsl_fus_cal_rot_mtx(struct zsl_vec *v, struct zsl_mtx *m,
            struct zsl_vec *v_rot);
 
int zsl_fus_cal_rot_axis_angle(struct zsl_vec *v, struct zsl_vec *a,
                   zsl_real_t *b, struct zsl_vec *v_rot);
 
#ifndef CONFIG_ZSL_SINGLE_PRECISION
 
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);
#endif
 
#ifndef CONFIG_ZSL_SINGLE_PRECISION
 
int zsl_fus_cal_magn_fast(struct zsl_mtx *m, zsl_real_t *me, struct zsl_mtx *K,
              struct zsl_vec *b);
#endif
 
int zsl_fus_cal_corr_scalar(zsl_real_t *d, zsl_real_t *k, zsl_real_t *b,
                zsl_real_t *d_out);
 
int zsl_fus_cal_corr_vec(struct zsl_vec *v, struct zsl_mtx *K,
             struct zsl_vec *b, struct zsl_vec *v_out);
 
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);
 
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);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_FUSION_CALIBRATION_H_ */
 /* End of calibration group */