MbientLab.MetaWear.Core.ISensorFusionBosch Interface Reference

Bosch algorithm combining accelerometer, gyroscope, and magnetometer data for Bosch sensors.
More...

Inheritance diagram for MbientLab.MetaWear.Core.ISensorFusionBosch:

Public Member Functions
void	Configure (Mode mode=Mode.Ndof, AccRange ar=AccRange._16g, GyroRange gr=GyroRange._2000dps, object[] accExtra=null, object[] gyroExtra=null)
	Configure the sensor fusion algorithm More...
void	Start ()
	Start the algorithm More...
void	Stop ()
	Stop the algorithm More...
Task	PullConfigAsync ()
	Pulls the current sensor fusion configuration from the sensor More...
Task< ImuCalibrationState >	ReadCalibrationStateAsync ()
	Reads the current calibration state from the sensor fusion algorithm. This function cannot be called until the sensor fusion algorithm is running and is only available on firmware v1.4.1+ More...
Task< ImuCalibrationData >	Calibrate (CancellationToken ct, int pollingPeriod=1000, Action< ImuCalibrationState > progress=null)
	Convenience method to poll the calibration state until the required IMUs are in a high accuracy state More...
void	WriteCalibrationData (ImuCalibrationData data)
	Writes calibration data to the sensor fusion algorithm. Combine this with IMacro module to write thr data at boot time. More...

Properties
IAsyncDataProducer	CorrectedAcceleration [get]
	Data producer representing corrected acceleration data More...
IAsyncDataProducer	CorrectedAngularVelocity [get]
	Data producer representing corrected angular velocity data More...
IAsyncDataProducer	CorrectedMagneticField [get]
	Data producer representing corrected magnetic field data More...
IAsyncDataProducer	Quaternion [get]
	Data producer representing quaternion data More...
IAsyncDataProducer	EulerAngles [get]
	Data producer representing Euler angles data More...
IAsyncDataProducer	Gravity [get]
	Data producer representing gravity data More...
IAsyncDataProducer	LinearAcceleration [get]
	Data producer representing linear acceleration data More...

Detailed Description

Bosch algorithm combining accelerometer, gyroscope, and magnetometer data for Bosch sensors.

When using sensor fusion, do not configure the accelerometer, gyro, and magnetometer with their respective interface; the algorithm will automatically configure those sensors based on the selected fusion mode.

Member Function Documentation

Calibrate()

Task<ImuCalibrationData> MbientLab.MetaWear.Core.ISensorFusionBosch.Calibrate	(	CancellationToken	ct,
		int	pollingPeriod = 1000,
		Action< ImuCalibrationState >	progress = null
	)

Convenience method to poll the calibration state until the required IMUs are in a high accuracy state

Parameters

ct	The cancellation token that will be checked before reading the calibration state
pollingPeriod	How frequently poll the calibration state in milliseconds, defaults to 1000ms
progress	Handler for calibration state updates

Returns

IMU calibration data when task is completed, used with WriteCalibrationData(ImuCalibrationData)

Exceptions

InvalidOperationException	If device is not running firmware v1.4.3+
TimeoutException	Timeout limit hit before task completed

Configure()

void MbientLab.MetaWear.Core.ISensorFusionBosch.Configure	(	Mode	mode = Mode.Ndof,
		AccRange	ar = AccRange._16g,
		GyroRange	gr = GyroRange._2000dps,
		object []	accExtra = null,
		object []	gyroExtra = null
	)

Configure the sensor fusion algorithm

Parameters

mode	Sensor fusion mode
ar	Accelerometer data range
gr	Gyro data range
accExtra	Extra configuration settings for the accelerometer
gyroExtra	Extra configuration settings for the gyro

PullConfigAsync()

Task MbientLab.MetaWear.Core.ISensorFusionBosch.PullConfigAsync

(

)

Pulls the current sensor fusion configuration from the sensor

Returns

Task that is completed when the settings are received

ReadCalibrationStateAsync()

Task<ImuCalibrationState> MbientLab.MetaWear.Core.ISensorFusionBosch.ReadCalibrationStateAsync

(

)

Reads the current calibration state from the sensor fusion algorithm. This function cannot be called until the sensor fusion algorithm is running and is only available on firmware v1.4.1+

Returns

Current calibrartion state

Exceptions

InvalidOperationException

If device is not using min required firmware

Start()

void MbientLab.MetaWear.Core.ISensorFusionBosch.Start

(

)

Start the algorithm

Stop()

void MbientLab.MetaWear.Core.ISensorFusionBosch.Stop

(

)

Stop the algorithm

WriteCalibrationData()

void MbientLab.MetaWear.Core.ISensorFusionBosch.WriteCalibrationData

(

ImuCalibrationData

data

)

Writes calibration data to the sensor fusion algorithm. Combine this with IMacro module to write thr data at boot time.

Parameters

data	Calibration data returned from the Calibrate function

Property Documentation

CorrectedAcceleration

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.CorrectedAcceleration

get

Data producer representing corrected acceleration data

CorrectedAngularVelocity

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.CorrectedAngularVelocity

get

Data producer representing corrected angular velocity data

CorrectedMagneticField

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.CorrectedMagneticField

get

Data producer representing corrected magnetic field data

EulerAngles

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.EulerAngles

get

Data producer representing Euler angles data

Gravity

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.Gravity

get

Data producer representing gravity data

LinearAcceleration

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.LinearAcceleration

get

Data producer representing linear acceleration data

Quaternion

IAsyncDataProducer MbientLab.MetaWear.Core.ISensorFusionBosch.Quaternion

get

Data producer representing quaternion data

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The documentation for this interface was generated from the following file:

• MetaWear/Core/ISensorFusionBosch.cs