/* | |
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__ |