ComplementaryFilter Class Reference

A simple filter for fusing accelerometer and gyroscope data together to determine roll and pitch. More...

Inheritance diagram for ComplementaryFilter:

Public Member Functions
delegate void	FilterUpdateEventHandler (object sender, EventArgs e)
	Delegate of the callback function to be invoked when the filter is updated More...
	ComplementaryFilter (IAccelerometer accelerometer, IGyroscope gyroscope, int samplePeriodMs=10, bool useHighResolutionTimer=false)
	Construct a new Complementary filter with the specified accelerometer and gyroscope (which is often the same IC) More...
void	Dispose ()
	Shut down the polling loop and dispose of this filter More...

Properties
double	Pitch [get]
	The current calculated pitch More...
double	Roll [get]
	The current calculated roll More...
double	Yaw [get]
	The yaw reported by the gyroscope. More...

Events
PropertyChangedEventHandler	PropertyChanged
	Fires whenever a property has been updated More...
FilterUpdateEventHandler	FilterUpdate
	Fires after the filter update function has executed More...

Detailed Description

A simple filter for fusing accelerometer and gyroscope data together to determine roll and pitch.

Constructor & Destructor Documentation

ComplementaryFilter()

ComplementaryFilter	(	IAccelerometer	accelerometer,
		IGyroscope	gyroscope,
		int	samplePeriodMs = 10,
		bool	useHighResolutionTimer = false
	)

Construct a new Complementary filter with the specified accelerometer and gyroscope (which is often the same IC)

Parameters

accelerometer	The accelerometer to use
gyroscope	The gyroscope to use
samplePeriodMs	The sample period to poll these devices at
useHighResolutionTimer	Whether to use an accurate (but CPU-hungry) timer

Member Function Documentation

FilterUpdateEventHandler()

delegate void FilterUpdateEventHandler	(	object	sender,
		EventArgs	e
	)

Delegate of the callback function to be invoked when the filter is updated

Parameters

sender	The filter that called this function
e	An empty EventArgs object

Dispose()

void Dispose

(

)

Shut down the polling loop and dispose of this filter

Property Documentation

Pitch

double Pitch

get

The current calculated pitch

Roll

double Roll

get

The current calculated roll

Yaw

double Yaw

get

The yaw reported by the gyroscope.

This value will drift, as the accelerometer cannot correct for it

Event Documentation

PropertyChanged

PropertyChangedEventHandler PropertyChanged

Fires whenever a property has been updated

FilterUpdate

FilterUpdateEventHandler FilterUpdate

Fires after the filter update function has executed

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

• F:/Git/treehopper-sdk/NET/API/Treehopper.Libraries/Sensors/Inertial/ComplementaryFilter.cs