| /* |
| quat_accuracy_monitor.h |
| $License: |
| Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. |
| See included License.txt for License information. |
| $ |
| */ |
| |
| /******************************************************************************* |
| * |
| * $Id:$ |
| * |
| ******************************************************************************/ |
| |
| #ifndef QUAT_ACCURARCY_MONITOR_H__ |
| #define QUAT_ACCURARCY_MONITOR_H__ |
| |
| #include "mltypes.h" |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| enum accuracy_signal_type_e { |
| TYPE_NAV_QUAT, |
| TYPE_GAM_QUAT, |
| TYPE_NAV_QUAT_ADVANCED, |
| TYPE_GAM_QUAT_ADVANCED, |
| TYPE_NAV_QUAT_BASIC, |
| TYPE_GAM_QUAT_BASIC, |
| TYPE_MAG, |
| TYPE_GYRO, |
| TYPE_ACCEL, |
| }; |
| |
| inv_error_t inv_init_quat_accuracy_monitor(void); |
| |
| void set_accuracy_threshold(enum accuracy_signal_type_e type, double threshold); |
| double get_accuracy_threshold(enum accuracy_signal_type_e type); |
| void set_accuracy_weight(enum accuracy_signal_type_e type, int weight); |
| int get_accuracy_weight(enum accuracy_signal_type_e type); |
| |
| int8_t get_accuracy_accuracy(enum accuracy_signal_type_e type); |
| |
| void inv_reset_quat_accuracy(void); |
| double get_6axis_correction_term(void); |
| double get_9axis_correction_term(void); |
| int get_9axis_accuracy_state(); |
| |
| void set_6axis_error_average(double value); |
| double get_6axis_error_bound(void); |
| double get_compass_correction(void); |
| double get_9axis_error_bound(void); |
| |
| float get_confidence_interval(void); |
| void set_compass_uncertainty(float value); |
| |
| inv_error_t inv_enable_quat_accuracy_monitor(void); |
| inv_error_t inv_disable_quat_accuracy_monitor(void); |
| inv_error_t inv_start_quat_accuracy_monitor(void); |
| inv_error_t inv_stop_quat_accuracy_monitor(void); |
| |
| double get_compassNgravity(void); |
| double get_init_compassNgravity(void); |
| |
| float inv_heading_accuracy_check(float orient[3], float *heading, int8_t *accuracy); |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| |
| #endif // QUAT_ACCURARCY_MONITOR_H__ |