navigation.orientation_estimator_if.OrientationEstimatorIf Class Reference

Convert sensor measurements into an orientation estimate. More...

Inherits ABC.

Public Member Functions
None	start (self, Vector3 acceleration_mps2)
	Initialize the estimator from the first sensor sample.
None	stop (self)
	Release resources owned by the estimator.
Orientation	update (self, Vector3 acceleration_mps2, Vector3 angular_velocity_rad_s, float elapsed_s)
	Update the orientation estimate.
None	reset_heading (self, float heading_deg=0.0)
	Set the estimator's heading reference.

Detailed Description

Convert sensor measurements into an orientation estimate.

Member Function Documentation

reset_heading()

None navigation.orientation_estimator_if.OrientationEstimatorIf.reset_heading	(		self,
		float	heading_deg = 0.0
	)

Set the estimator's heading reference.

Parameters

heading_deg

New heading reference in degrees.

start()

None navigation.orientation_estimator_if.OrientationEstimatorIf.start	(		self,
		Vector3	acceleration_mps2
	)

Initialize the estimator from the first sensor sample.

Parameters

acceleration_mps2

Initial x/y/z acceleration vector in m/s².

update()

Orientation navigation.orientation_estimator_if.OrientationEstimatorIf.update	(		self,
		Vector3	acceleration_mps2,
		Vector3	angular_velocity_rad_s,
		float	elapsed_s
	)

Update the orientation estimate.

Parameters

acceleration_mps2	Current x/y/z acceleration vector in m/s².
angular_velocity_rad_s	Current x/y/z angular velocity in rad/s.
elapsed_s	Seconds elapsed since the previous update.

Returns

Heading, pitch, and roll in degrees.

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

• controllers/navigation/orientation_estimator_if.py