zsl_fus_mahn_cfg Struct Reference

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

#include <mahony.h>

Data Fields
zsl_real_t	kp
	Proportional filter gain constant. Must be greater than 0. More...
zsl_real_t	ki
	Integral filter gain constant. Must be greater than 0. More...
zsl_real_t	integral_limit
	Integral limit for the integrator to avoid windup. Must be greater than 0. More...
struct zsl_vec	intfb
	Integral feedback vector, which is updated every iteration. Its initial value must be (0, 0, 0). More...

Detailed Description

Config settings for the Mahony sensor fusion algorithm.

Definition at line 40 of file mahony.h.

Field Documentation

integral_limit

zsl_real_t zsl_fus_mahn_cfg::integral_limit

Integral limit for the integrator to avoid windup. Must be greater than 0.

Definition at line 54 of file mahony.h.

intfb

struct zsl_vec zsl_fus_mahn_cfg::intfb

Integral feedback vector, which is updated every iteration. Its initial value must be (0, 0, 0).

Definition at line 60 of file mahony.h.

ki

zsl_real_t zsl_fus_mahn_cfg::ki

Integral filter gain constant. Must be greater than 0.

Definition at line 49 of file mahony.h.

kp

zsl_real_t zsl_fus_mahn_cfg::kp

Proportional filter gain constant. Must be greater than 0.

Definition at line 44 of file mahony.h.

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

• include/zsl/orientation/fusion/mahony.h