Struct rc_mpu_config_t
Defined in File mpu.h
Struct Documentation
-
struct rc_mpu_config_t
configuration of the mpu sensor
Configuration struct passed to rc_mpu_initialize and rc_mpu_initialize_dmp. It is best to get the default config with rc_mpu_default_config() function first and modify from there.
physical connection configuration
accelerometer, gyroscope, and magnetometer configuration
-
rc_mpu_accel_fsr_t accel_fsr
accelerometer full scale range, default ACCEL_FSR_8G
-
rc_mpu_gyro_fsr_t gyro_fsr
gyroscope full scale range, default GYRO_FSR_2000DPS
-
rc_mpu_accel_dlpf_t accel_dlpf
internal low pass filter cutoff, default ACCEL_DLPF_184
-
rc_mpu_gyro_dlpf_t gyro_dlpf
internal low pass filter cutoff, default GYRO_DLPF_184
DMP settings, only used with DMP mode
-
int dmp_fetch_accel_gyro
set to 1 to optionally raw accel/gyro when reading DMP quaternion, default: 0 (off)
-
int dmp_auto_calibrate_gyro
set to 1 to let DMP auto calibrate the gyro while in use, default: 0 (off)
-
rc_mpu_orientation_t orient
DMP orientation matrix, see rc_mpu_orientation_t.
-
double compass_time_constant
time constant (seconds) for filtering compass with gyroscope yaw value, default 25
-
int dmp_interrupt_sched_policy
Scheduler policy for DMP interrupt handler and user callback, default SCHED_OTHER.
-
int dmp_interrupt_priority
scheduler priority for DMP interrupt handler and user callback, default 0
-
rc_mpu_accel_fsr_t accel_fsr