Question
AppMEMS#8b: The X-CUBE-MEMS1 libraries in detail - MotionEC functions
--- More details on MotionEC library ---
As described in the previous post, the MotionEC library acquires data from the accelerometer and magnetometer and provides information about the device orientation and movement status based on data from a device.
The central function that runs the E-Compass algorithm (accelerometer and magnetometer data fusion) is the following one:
void MotionEC_Run(MEC_input_t *data_in, MEC_output_t *data_out)
where the input data are:
- acc[3] is an array of accelerometer data in ENU convention, measured in g
- mag[3] is an array of magnetometer calibrated data in ENU convention, measured in μT/50
- deltatime s is the delta time (i.e., time delay between old and new data set) measured in s
and the output data are:
- quaternion[4] is array containing quaternion, representing the 3D-angular orientation of the device in the space; order of elements is: X, Y, Z, W, with always positive element W
- euler[3] is an array of Euler angles, representing the 3D-angular orientation of the device in space; the order of the elements is: yaw, pitch, roll, measured in deg
- i_gyro[3] is an array of angular rates, representing a virtual gyroscope sensor, measured in dps
- gravity[3] is an array of accelerations, representing the gravity vector, measured in g
- linear[3] is an array of acceleration, representing the device linear acceleration, measured in g
See below an example of the output of MotionEC library in Unicleo-GUI framework �?�