(8.D.2.2 ) CloudNav
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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