_SbgEComLogEkfQuat Struct Reference

#include <sbgEComLogEkf.h>

Data Fields
uint32_t	timeStamp
float	quaternion [4]
float	eulerStdDev [3]
uint32_t	status
float	magDeclination
float	magInclination

Detailed Description

EFK computed orientation using quaternion.

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 _SbgEComLogEkfQuat::timeStamp

Time in us since the sensor power up.

quaternion

float _SbgEComLogEkfQuat::quaternion[4]

Orientation quaternion stored in W, X, Y, Z form.

eulerStdDev

float _SbgEComLogEkfQuat::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 _SbgEComLogEkfQuat::status

EKF solution status bitmask and enum.

magDeclination

float _SbgEComLogEkfQuat::magDeclination

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

magInclination

float _SbgEComLogEkfQuat::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