m5::imu::AxisOrder Struct Reference

Chip-frame-to-body-frame axis remap: a permutation plus a per-output-axis sign flip. More...

#include <axis_order.hpp>

Public Member Functions
void	apply (float(&v)[3]) const
	Apply this permutation and sign flip to a physical-unit XYZ triplet, in place.

Public Attributes
AxisPermutation	permutation {AxisPermutation::XYZ}
	Axis permutation.
bool	invert_x {false}
	Negate output X after permutation.
bool	invert_y {false}
	Negate output Y after permutation.
bool	invert_z {false}
	Negate output Z after permutation.

Detailed Description

Chip-frame-to-body-frame axis remap: a permutation plus a per-output-axis sign flip.

Applied by AhrsController::update() to every accel/gyro/mag sample from a given IMUDataSource, right after raw-to-physical conversion and before auto-calibration offsets are subtracted (see AhrsController::writeAxisOrder()/readAxisOrder()). Mirrors M5Unified's internal_axisorder_t, operating directly on physical-unit float triplets.

The default (AxisPermutation::XYZ, no inversion) is the identity transform, i.e. exactly what a source already reports in its own chip frame.

Member Function Documentation

apply()

void m5::imu::AxisOrder::apply ( float(&) v[3] ) const

inline

Apply this permutation and sign flip to a physical-unit XYZ triplet, in place.

Parameters

v[in,out]

3-element array (accel, gyro, or mag), overwritten with the remapped values