A class for managing the Adafruit BNO055 sensor. More...

#include <BNO055.h>

Collaboration diagram for BNO055:

[legend]

Public Member Functions
	BNO055 ()
	Constructs a BNO055 instance.

void	Update ()
	Updates the sensor data and applies filtering.

Vector3D	GetLocalMagneticField ()
	Retrieves the local magnetic field vector.

Vector3D	GetLocalForce ()
	Retrieves the computed local force vector.

Vector3D	GetLocalAccelerationFiltered ()
	Retrieves the filtered local acceleration vector.

Vector3D	GetLocalAngularVelocityFiltered ()
	Retrieves the filtered local angular velocity vector.

Vector3D	GetLocalAcceleration ()
	Retrieves the raw local acceleration vector.

Vector3D	GetLocalAngularVelocity ()
	Retrieves the raw local angular velocity vector.

Quaternion	GetAbsoluteOrientation ()
	Retrieves the absolute orientation as a quaternion.

Private Member Functions
Vector3D	ReadMagneticField ()
	Reads the magnetic field vector from the sensor.

Vector3D	ReadLocalAcceleration ()
	Reads the local acceleration vector from the sensor.

Vector3D	ReadLocalAngularVelocity ()
	Reads the local angular velocity vector from the sensor.

Vector3D	ReadLocalGravityVector ()
	Reads the local gravity vector from the sensor.

Private Attributes
sensors_event_t	angVelocityData

sensors_event_t	magnetometerData

sensors_event_t	accelerometerData

sensors_event_t	gravityData
	Sensor event data.

Adafruit_BNO055	bno = Adafruit_BNO055(55, 0x28)
	BNO055 sensor instance.

Vector3D	localForce
	Computed local force.

Vector3D	localAcceleration
	Raw local acceleration data.

Vector3D	localMagneticField
	Raw local magnetic field data.

Vector3D	localAngularVelocity
	Raw local angular velocity data.

Vector3D	localGravityVector
	Raw local gravity vector data.

Vector3D	previousLocalAngularVelocity
	Previous angular velocity for filtering.

Quaternion	absoluteOrientation
	Computed absolute orientation.

long	previousMicros
	Timestamp of the previous sensor update.

VectorRunningAverageFilter< 10 >	localAngulKF = VectorRunningAverageFilter<10>(0.1f)
	Filter for angular velocity.

VectorRunningAverageFilter< 10 >	localAccelKF = VectorRunningAverageFilter<10>(0.1f)
	Filter for acceleration.

VectorRunningAverageFilter< 10 >	localGraviKF = VectorRunningAverageFilter<10>(0.1f)
	Filter for gravity vector.

Detailed Description

A class for managing the Adafruit BNO055 sensor.

The BNO055 class provides methods for retrieving processed sensor data, including acceleration, angular velocity, magnetic field, gravity vector, and absolute orientation. It uses filters to smooth the data for improved reliability.

Definition at line 30 of file BNO055.h.

Constructor & Destructor Documentation

◆ BNO055()

BNO055 ( )

Constructs a BNO055 instance.

Definition at line 3 of file BNO055.cpp.

References bno, and previousMicros.

Member Function Documentation

◆ GetAbsoluteOrientation()

Quaternion GetAbsoluteOrientation ( )

Retrieves the absolute orientation as a quaternion.

Returns: A Quaternion representing the absolute orientation.

Definition at line 84 of file BNO055.cpp.

References absoluteOrientation.

◆ GetLocalAcceleration()

Vector3D GetLocalAcceleration ( )

Retrieves the raw local acceleration vector.

Returns: A Vector3D representing the raw local acceleration.

Definition at line 76 of file BNO055.cpp.

References localAcceleration.

◆ GetLocalAccelerationFiltered()

Vector3D GetLocalAccelerationFiltered ( )

Retrieves the filtered local acceleration vector.

Returns: A Vector3D representing the filtered local acceleration.

Definition at line 68 of file BNO055.cpp.

References VectorRunningAverageFilter< memory >::Filter(), localAcceleration, and localAccelKF.

◆ GetLocalAngularVelocity()

Vector3D GetLocalAngularVelocity ( )

Retrieves the raw local angular velocity vector.

Returns: A Vector3D representing the raw local angular velocity.

Definition at line 80 of file BNO055.cpp.

References localAngularVelocity.

◆ GetLocalAngularVelocityFiltered()

Vector3D GetLocalAngularVelocityFiltered ( )

Retrieves the filtered local angular velocity vector.

Returns: A Vector3D representing the filtered local angular velocity.

Definition at line 72 of file BNO055.cpp.

References VectorRunningAverageFilter< memory >::Filter(), localAngularVelocity, and localAngulKF.

◆ GetLocalForce()

Vector3D GetLocalForce ( )

Retrieves the computed local force vector.

Returns: A Vector3D representing the local force.

Definition at line 64 of file BNO055.cpp.

References localForce.

◆ GetLocalMagneticField()

Vector3D GetLocalMagneticField ( )

Retrieves the local magnetic field vector.

Returns: A Vector3D representing the magnetic field.

Definition at line 60 of file BNO055.cpp.

References localMagneticField.

Referenced by Update().

◆ ReadLocalAcceleration()

Vector3D ReadLocalAcceleration ( )

private

Reads the local acceleration vector from the sensor.

Returns: A Vector3D representing the local acceleration.

Definition at line 26 of file BNO055.cpp.

References accelerometerData, and bno.

◆ ReadLocalAngularVelocity()

Vector3D ReadLocalAngularVelocity ( )

private

Reads the local angular velocity vector from the sensor.

Returns: A Vector3D representing the local angular velocity.

Definition at line 31 of file BNO055.cpp.

References angVelocityData, and bno.

◆ ReadLocalGravityVector()

Vector3D ReadLocalGravityVector ( )

private

Reads the local gravity vector from the sensor.

Returns: A Vector3D representing the local gravity vector.

Definition at line 36 of file BNO055.cpp.

References bno, and gravityData.

◆ ReadMagneticField()

Vector3D ReadMagneticField ( )

private

Reads the magnetic field vector from the sensor.

Returns: A Vector3D representing the magnetic field.

Definition at line 21 of file BNO055.cpp.

References bno, and magnetometerData.

◆ Update()

void Update ( )

Updates the sensor data and applies filtering.

Definition at line 41 of file BNO055.cpp.

References absoluteOrientation, Vector3D::CrossProduct(), Quaternion::DeltaRotation(), VectorRunningAverageFilter< memory >::Filter(), GetLocalMagneticField(), Rotation::GetQuaternion(), localAcceleration, localAngularVelocity, localForce, localGraviKF, localGravityVector, previousMicros, Quaternion::SphericalInterpolation(), Quaternion::UnitQuaternion(), and Vector3D::UnitSphere().

Member Data Documentation

◆ absoluteOrientation

Quaternion absoluteOrientation

private

Computed absolute orientation.

Definition at line 40 of file BNO055.h.

Referenced by GetAbsoluteOrientation(), and Update().

◆ accelerometerData

sensors_event_t accelerometerData

private

Definition at line 32 of file BNO055.h.

Referenced by ReadLocalAcceleration().

◆ angVelocityData

sensors_event_t angVelocityData

private

Definition at line 32 of file BNO055.h.

Referenced by ReadLocalAngularVelocity().

◆ bno

Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28)

private

BNO055 sensor instance.

Definition at line 33 of file BNO055.h.

Referenced by BNO055(), ReadLocalAcceleration(), ReadLocalAngularVelocity(), ReadLocalGravityVector(), and ReadMagneticField().

◆ gravityData

sensors_event_t gravityData

private

Sensor event data.

Definition at line 32 of file BNO055.h.

Referenced by ReadLocalGravityVector().

◆ localAcceleration

Vector3D localAcceleration

private

Raw local acceleration data.

Definition at line 35 of file BNO055.h.

Referenced by GetLocalAcceleration(), GetLocalAccelerationFiltered(), and Update().

◆ localAccelKF

VectorRunningAverageFilter<10> localAccelKF = VectorRunningAverageFilter<10>(0.1f)

private

Filter for acceleration.

Definition at line 44 of file BNO055.h.

Referenced by GetLocalAccelerationFiltered().

◆ localAngularVelocity

Vector3D localAngularVelocity

private

Raw local angular velocity data.

Definition at line 37 of file BNO055.h.

Referenced by GetLocalAngularVelocity(), GetLocalAngularVelocityFiltered(), and Update().

◆ localAngulKF

VectorRunningAverageFilter<10> localAngulKF = VectorRunningAverageFilter<10>(0.1f)

private

Filter for angular velocity.

Definition at line 43 of file BNO055.h.

Referenced by GetLocalAngularVelocityFiltered().

◆ localForce

Vector3D localForce

private

Computed local force.

Definition at line 34 of file BNO055.h.

Referenced by GetLocalForce(), and Update().

◆ localGraviKF

VectorRunningAverageFilter<10> localGraviKF = VectorRunningAverageFilter<10>(0.1f)

private

Filter for gravity vector.

Definition at line 45 of file BNO055.h.

Referenced by Update().

◆ localGravityVector

Vector3D localGravityVector

private

Raw local gravity vector data.

Definition at line 38 of file BNO055.h.

Referenced by Update().

◆ localMagneticField

Vector3D localMagneticField

private

Raw local magnetic field data.

Definition at line 36 of file BNO055.h.

Referenced by GetLocalMagneticField().

◆ magnetometerData

sensors_event_t magnetometerData

private

Definition at line 32 of file BNO055.h.

Referenced by ReadMagneticField().

◆ previousLocalAngularVelocity

Vector3D previousLocalAngularVelocity

private

Previous angular velocity for filtering.

Definition at line 39 of file BNO055.h.

◆ previousMicros

long previousMicros

private

Timestamp of the previous sensor update.

Definition at line 41 of file BNO055.h.

Referenced by BNO055(), and Update().

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BNO055()

Member Function Documentation

◆ GetAbsoluteOrientation()

◆ GetLocalAcceleration()

◆ GetLocalAccelerationFiltered()

◆ GetLocalAngularVelocity()

◆ GetLocalAngularVelocityFiltered()

◆ GetLocalForce()

◆ GetLocalMagneticField()

◆ ReadLocalAcceleration()

◆ ReadLocalAngularVelocity()

◆ ReadLocalGravityVector()

◆ ReadMagneticField()

◆ Update()

Member Data Documentation

◆ absoluteOrientation

◆ accelerometerData

◆ angVelocityData

◆ bno

◆ gravityData

◆ localAcceleration

◆ localAccelKF

◆ localAngularVelocity

◆ localAngulKF

◆ localForce

◆ localGraviKF

◆ localGravityVector

◆ localMagneticField

◆ magnetometerData

◆ previousLocalAngularVelocity

◆ previousMicros