/**
* Constructs the AHRS class, overriding the default update rate
* with a custom rate which may be from 4 to 60, representing
* the number of updates per second sent by the navX MXP.
*
* Note that increasing the update rate may increase the
* CPU utilization.
* @param serial_port SerialPort object to use
* @param update_rate_hz Custom Update Rate (Hz)
*/
AHRS::AHRS(SerialPort *pport, uint8_t update_rate_hz) : IMU(pport,update_rate_hz)
{
this->current_stream_type = MSGID_AHRS_UPDATE;
world_linear_accel_x =
world_linear_accel_y =
world_linear_accel_z =
mpu_temp_c =
fused_heading =
altitude =
barometric_pressure =
baro_sensor_temp_c =
mag_field_norm_ratio = 0.0f;
cal_mag_x =
cal_mag_y =
cal_mag_z = 0;
is_moving =
is_rotating =
altitude_valid =
is_magnetometer_calibrated =
magnetic_disturbance = false;
ResetDisplacement();
}
InertialDataIntegrator::InertialDataIntegrator() {
ResetDisplacement();
}
