mpu9250source.h

Aller à la documentation de ce fichier.

 
#ifndef MPU9250SOURCE_H
#define MPU9250SOURCE_H
 
#include <QObject>
#include <QTimer>
#include <QElapsedTimer>
 
class TelemetryData;
 
class Mpu9250Source : public QObject {
    Q_OBJECT
public:
    explicit Mpu9250Source(TelemetryData* data, QObject* parent = nullptr);
 
    ~Mpu9250Source();
 
    void start();
 
    void stop();
 
private slots:
    void readSensor();
 
private:
    void madgwickUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float dt);
 
    // --- Paramètres matériels ---
    TelemetryData* m_data;          
    QTimer* m_timer;                
    QElapsedTimer m_elapsedTimer;   
    int m_fileDescriptor;           
 
    // --- État du filtre ---
    float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; 
    const float beta = 0.1f;               
 
    // --- Paramètres de calibration ---
    float m_magBias[3] = {108.0f, 144.0f, -77.0f};          
    float m_magScale[3] = {0.991251f, 1.03755f, 0.973368f}; 
    float m_gyroBias[3] = {0.0f, 0.0f, 0.0f};               
};
 
#endif // MPU9250SOURCE_H