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(8.D.1.2) CloudNav

Owned by Catherine Spain
Apr 10, 2023
4 min read

Overview

Convert sensor raw signals to quaternions

Discussion

This module converts raw sensor signals to quaternions.

Three sensors are supported: an accelerometer, a gyro, and a magnetometer.

An input pin is provided for each sensor

The data coming in on each pin is xData, yData, zData, timeStampLo, timeStampHi, dataValid (6 channels).

Module arguments are a noise measurement for each sensor.

Internally the sample rate of each sensor is 100 Hz and is converted to a sample period in nanoseconds.

The sensor noise arguments are as follows:

ACCEL (12 bits per g) - 1.8 mg(RMS), 11 bit G: Example: (sample_t)(0.0018f * (1 << 11) + 0.5);

GYRO (10 bits rad/s) - 125 mdps(RMS), 10 Bit radians/sec: Example: (sample_t)(sample_t)(0.0022f * (1 << 10) + 0.5);

MAG (12 bits milligauss) - 70 nT RMS: Example: (sample_t)(0.0007f * (1 << 12) + 0.5);

Timestamp is in elapsed nanoseconds

Type Definition

typedef struct _ModuleCloudNav { ModuleInstanceDescriptor instance; // Common Audio Weaver module instance structure INT32 accelNoise; // Accel Noise INT32 gyroNoise; // Gyro Noise INT32 magNoise; // Mag Noise INT32 bEnableMag; // Enable mag FLOAT32 magFeedbackGain; // Mag feedback gain INT32 accelSR; // Accel sample rate INT32 gyroSR; // Gyro sample rate INT32 magSR; // Mag sample rate INT32* rawA; // raw accel signals INT32* rawG; // raw gyro signals INT32* rawM; // raw mag signals INT32* ptA; // pt accel signals INT32* ptG; // pt gyro signals INT32* ptM; // pt mag signals void * p_cnsm; // Shared memory void * p_cnsf; // Sensor Fusion memory void * p_pdata; // Persistent data void * p_quantData; // Persistent quant data } ModuleCloudNavClass;

Variables

Properties

Name

Type

Usage

isHidden

Default value

Range

Units

accelNoise

int

const

0

2

Unrestricted

 

gyroNoise

int

const

0

1

Unrestricted

 

magNoise

int

const

0

12

Unrestricted

 

bEnableMag

int

const

0

1

Unrestricted

 

magFeedbackGain

float

const

0

1

Unrestricted

 

accelSR

int

const

1

104

Unrestricted

 

gyroSR

int

const

1

104

Unrestricted

 

magSR

int

const

1

100

Unrestricted

 

rawA

int*

state

0

[1 x 3]

Unrestricted

 

rawG

int*

state

0

[1 x 3]

Unrestricted

 

rawM

int*

state

0

[1 x 3]

Unrestricted

 

ptA

int*

state

0

[1 x 3]

Unrestricted

 

ptG

int*

state

0

[1 x 3]

Unrestricted

 

ptM

int*

state

0

[1 x 3]

Unrestricted

 

p_cnsm

void *

const

1

 

Unrestricted

 

p_cnsf

void *

const

1

 

Unrestricted

 

p_pdata

void *

const

1

 

Unrestricted

 

p_quantData

void *

const

1

 

Unrestricted

 

Pins

Input Pins

Name: accel

Description: Input signal

Data type: float

Channel range: 6

Block size range: 1

Sample rate range: Unrestricted

Complex support: Real

 

Name: gyro

Description: Input signal

Data type: float

Channel range: 6

Block size range: 1

Sample rate range: Unrestricted

Complex support: Real

 

Name: mag

Description: Input signal

Data type: float

Channel range: 6

Block size range: 1

Sample rate range: Unrestricted

Complex support: Real

Output Pins

Name: quat

Description: Output four quaternion signals

Data type: int

 

Name: calQual

Description: calibration quality

Data type: int

MATLAB Usage

File Name: cloudnav_sensor_fusion_module.m

M = cloudnav_sensor_fusion_module(NAME, ACCEL_NOISE, GYRO_NOISE, MAG_NOISE, ENABLE_MAG) Converts x,y,z signals into quaternions Arguments: NAME - name of the module

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