/** * 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(); }