_SbgEComLogEkfEuler Struct Reference

#include <sbgEComLogEkf.h>

Data Fields
uint32_t	timeStamp
float	euler [3]
float	eulerStdDev [3]
uint32_t	status
float	magDeclination
float	magInclination

Detailed Description

EKF computed orientation using euler angles.

Note: In AHRS (Attitude and Heading Reference System) or INS (Inertial Navigation System) modes, the yaw angle represents the geographic (true) heading of the device.

To convert a geographic heading to a magnetic heading, use the following formula: Magnetic Heading = Geographic Heading - Magnetic Declination

Field Documentation

timeStamp

uint32_t _SbgEComLogEkfEuler::timeStamp

Time in us since the sensor power up.

euler

float _SbgEComLogEkfEuler::euler[3]

Roll [-pi;+pi], pitch [-pi/2;+pi/2], yaw [-pi;+pi] in radians.

eulerStdDev

float _SbgEComLogEkfEuler::eulerStdDev[3]

Roll std. [0;+pi], pitch std. [0;+pi/2] and yaw std. [0;+pi] estimated 1-sigma accuracy in radians

status

uint32_t _SbgEComLogEkfEuler::status

EKF solution status bitmask and enum.

magDeclination

float _SbgEComLogEkfEuler::magDeclination

Local magnetic declination in radians (positive east - set to NAN if not available).

magInclination

float _SbgEComLogEkfEuler::magInclination

Local magnetic inclination in radians (positive down - set to NAN if not available).

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

• src/logs/sbgEComLogEkf.h