62 lines
877 B
C++
62 lines
877 B
C++
/*
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* IMU.hpp
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*
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* Created on: Aug 17, 2025
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* Author: jakoboberbuchner
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*/
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#ifndef AUTOPILOT_SHARED_DATA_IMU_HPP_
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#define AUTOPILOT_SHARED_DATA_IMU_HPP_
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#include <stdint.h>
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namespace IMU {
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enum class Orientation {
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ENU = 0, // +X = East, +Y = North, +Z = up
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NED = 1, // +X = North, +Y = East, +Z = down
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};
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struct Data {
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int16_t magX = 0;
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int16_t magY = 0;
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int16_t magZ = 0;
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int16_t temp = 0;
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int16_t accX = 0;
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int16_t accY = 0;
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int16_t accZ = 0;
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int16_t gyrX = 0;
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int16_t gyrY = 0;
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int16_t gyrZ = 0;
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float temperature;
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Orientation orientation = Orientation::ENU;
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uint8_t* imuDataPtr( void ) {
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return (uint8_t*)&temp;
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}
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uint8_t* magDataPtr( void ) {
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return (uint8_t*)&magX;
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}
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void calcTemperature( void ) {
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temperature = (((float)temp / 256.0f) + 25.0f);
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}
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};
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} // namespace IMU
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#endif /* AUTOPILOT_SHARED_DATA_IMU_HPP_ */
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