maix::ahrs

maix.ahrs module

This is maix::ahrs module of MaixCDK.
All of these elements are in namespace maix::ahrs.

For MaixCDK developer: DO NOT edit this doc file manually, this doc is auto generated!

Module

No module

Enum

Variable

PI

Math PI

item	description
value	3.14159265358979323846f
readonly	True

C++ defination code:
const float PI = 3.14159265358979323846f

RAD2DEG

angle unit radian to degree.

item	description
value	180.0f / PI
readonly	True

C++ defination code:
const float RAD2DEG = 180.0f / PI

DEG2RAD

angle unit degree to radian.

item	description
value	PI / 180.0f
readonly	True

C++ defination code:
const float DEG2RAD = PI / 180.0f

Function

Class

MahonyAHRS

class MahonyAHRS for Attitude Estimation from IMU data, a Complementary Filter,\nsupport accelerometer, gyroscope and magnetometer fusion.

C++ defination code:
class MahonyAHRS

kp

P of PI controller, a larger P (proportional gain) leads to faster response,\nbut it increases the risk of overshoot and oscillation.

item	description
type	var
static	False
readonly	False

C++ defination code:
float kp

ki

I of PI controller, a larger I (integral gain) helps to eliminate steady-state errors more quickly,\nbut it can accumulate error over time, potentially causing instability or slow drift.

item	description
type	var
static	False
readonly	False

C++ defination code:
float ki

MahonyAHRS

class MahonyAHRS constructor.

item	description
type	func
param	kp: P of PI controller, a larger P (proportional gain) leads to faster response, but it increases the risk of overshoot and oscillation. ki: I of PI controller, a larger I (integral gain) helps to eliminate steady-state errors more quickly, but it can accumulate error over time, potentially causing instability or slow drift.
static	False

C++ defination code:
MahonyAHRS(float kp,float ki)

init

Initialize by accelerometer and magnetometer(optional).\nIf you not call this method mannually, get_angle and update method will automatically call it.

item	description
type	func
param	ax: z axis of accelerometer, unit is g or raw data. ay: y axis of accelerometer, unit is g or raw data. mx: x axis of magnetometer, unit is uT or raw data, mx, my, mz all 0 means not use magnetometer. my: y axis of magnetometer, unit is uT or raw data, mx, my, mz all 0 means not use magnetometer. mz: z axis of magnetometer, unit is uT or raw data, mx, my, mz all 0 means not use magnetometer.
static	False

C++ defination code:

void init(float ax, float ay, float az, float mx = 0, float my = 0, float mz = 0)

update

Update angles by accelerometer, gyroscope and magnetometer(optional).\nget_angle method will automatically call it.

item	description
type	func
param	ax: z axis of gyroscope, unit is rad/s. ay: y axis of gyroscope, unit is rad/s. mx: x axis of magnetometer, unit is uT or raw data, mx, my, mz all 0 means not use magnetometer. my: y axis of magnetometer, unit is uT or raw data, mx, my, mz all 0 means not use magnetometer. mz: z axis of magnetometer, unit is uT or raw data, mx, my, mz all 0 means not use magnetometer. dt: Delta time between two times call update method.
static	False

C++ defination code:

void update(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float dt)

get_angle

Get angle by mahony complementary filter, will automatically call update method,\nand automatically call init in first time.

item	description
type	func
param	acc: accelerometer data, unit is g or raw data. maix.Vector3f type. gyro: gyroscope data, unit can be rad/s or degree/s, if rad/s, arg radian should be true. maix.Vector3f type. mag: magnetometer data, optional, if no magnetometer, set all value to 0. maix.Vector3f type. dt: delta T of two time call get_anle, unit is second, float type. radian: if gyro's unit is rad/s, set this arg to true, degree/s set to false.
return	rotation angle data, maix.Vector3f type.
static	False

C++ defination code:

Vector3f get_angle(Vector3f acc, Vector3f gyro,Vector3f mag, float dt, bool radian = false)

reset

reset to not initialized status.

item	description
type	func
static	False

C++ defination code:
void reset()

image

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