/**
* @brief Acceleration (g's) in body frame.
* Embedded MPL defines gravity as positive acceleration pointing away from
* the Earth.
* @param[out] data Acceleration in g's, q16 fixed point.
* @param[out] accuracy Accuracy of the measurement from 0 (least accurate)
* to 3 (most accurate).
* @param[out] timestamp The time in milliseconds when this sensor was read.
* @return 1 if data was updated.
*/
int inv_get_sensor_type_accel(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
inv_get_accel_set(data, accuracy, timestamp);
if (eMPL_out.accel_status & INV_NEW_DATA)
return 1;
else
return 0;
}
/**
* Acceleration (g's) in body frame.
* Microsoft defines gravity as positive acceleration pointing towards the
* Earth.
* @param[out] values Acceleration in g's.
* @param[out] accuracy 0 (uncalibrated) to 3 (most accurate).
* @param[out] timestamp Time when sensor was sampled.
*/
void inv_get_sensor_type_accel_float(float *values, int8_t *accuracy,
inv_time_t *timestamp)
{
long accel[3];
inv_get_accel_set(accel, accuracy, timestamp);
values[0] = (float) -accel[0] / 65536.f;
values[1] = (float) -accel[1] / 65536.f;
values[2] = (float) -accel[2] / 65536.f;
}
/**
* @brief Returns 3-element vector of accelerometer data in body frame
* with gravity removed
* @param[out] data 3-element vector of accelerometer data in body frame
* with gravity removed
* @return INV_SUCCESS if successful
* INV_ERROR_INVALID_PARAMETER if invalid input pointer
*/
inv_error_t inv_get_linear_accel(long *data)
{
long gravity[3];
if (data != NULL)
{
inv_get_accel_set(data, NULL, NULL);
inv_get_gravity(gravity);
data[0] -= gravity[0] >> 14;
data[1] -= gravity[1] >> 14;
data[2] -= gravity[2] >> 14;
return INV_SUCCESS;
}
