Config settings for the AQUA sensor fusion algorithm. More...

#include <aqua.h>

Data Fields
zsl_real_t	alpha
	A value between 0.0 and 1.0 which sets the gain for the cut-off frequency of the filter. Adjust this value to control LERP or SLERP, which reduces the amount of high frequency noise in the accelerometer. Alpha must be calculated in static conditions. More...

zsl_real_t	beta
	Similar to alpha, this variable is set between 0.0 and 1.0 and is used to control the LERP or SLERP, which reduces the amount of high frequency noise in the magnetometer. Beta must be calculated in static conditions. More...

zsl_real_t	e_a
	Threshold value to determine whether to compute LERP or SLERP to reduce the amount of high frequency noise of the accelerometer in the Dq_acc vector. Typically set to 0.9. More...

zsl_real_t	e_m
	Threshold value to determine whether to compute LERP or SLERP to reduce the amount of high frequency noise of the magnetometer in the Dq_mag vector. Typically set to 0.9. More...

Detailed Description

Config settings for the AQUA sensor fusion algorithm.

Definition at line 42 of file aqua.h.

Field Documentation

◆ alpha

zsl_real_t zsl_fus_aqua_cfg::alpha

A value between 0.0 and 1.0 which sets the gain for the cut-off frequency of the filter. Adjust this value to control LERP or SLERP, which reduces the amount of high frequency noise in the accelerometer. Alpha must be calculated in static conditions.

Definition at line 50 of file aqua.h.

◆ beta

zsl_real_t zsl_fus_aqua_cfg::beta

Similar to alpha, this variable is set between 0.0 and 1.0 and is used to control the LERP or SLERP, which reduces the amount of high frequency noise in the magnetometer. Beta must be calculated in static conditions.

Definition at line 58 of file aqua.h.

◆ e_a

zsl_real_t zsl_fus_aqua_cfg::e_a

Threshold value to determine whether to compute LERP or SLERP to reduce the amount of high frequency noise of the accelerometer in the Dq_acc vector. Typically set to 0.9.

Definition at line 65 of file aqua.h.

◆ e_m

zsl_real_t zsl_fus_aqua_cfg::e_m

Threshold value to determine whether to compute LERP or SLERP to reduce the amount of high frequency noise of the magnetometer in the Dq_mag vector. Typically set to 0.9.

Definition at line 72 of file aqua.h.

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

include/zsl/orientation/fusion/aqua.h