File syn_sensor_fusion.h

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6-DOF IMU Sensor Fusion & AHRS Complementary / Mahony Filter (Q16.16 fixed-point).

• #include "../common/syn_defs.h"
• #include "../util/syn_qmath.h"

Classes

Type	Name
struct	SYN_EulerAngles 3D Euler attitude angles (in radians, Q16.16).
struct	SYN_Quaternion 3D Quaternion representation (w + xi + yj + zk).
struct	SYN_SensorFusion Mahony 6-DOF IMU Sensor Fusion state structure.

Public Functions

Type	Name
SYN_Status	syn_sensor_fusion_get_euler (const SYN_SensorFusion * f, SYN_EulerAngles * euler) Retrieve current Euler attitude angles (Roll, Pitch, Yaw).
SYN_Status	syn_sensor_fusion_get_quaternion (const SYN_SensorFusion * f, SYN_Quaternion * q) Retrieve current quaternion orientation estimate.
void	syn_sensor_fusion_init (SYN_SensorFusion * f, q16_t Kp, q16_t Ki, q16_t dt) Initialize the IMU sensor fusion filter.
void	syn_sensor_fusion_reset (SYN_SensorFusion * f) Reset filter state to initial identity orientation (q = [1, 0, 0, 0]).
SYN_Status	syn_sensor_fusion_update (SYN_SensorFusion * f, q16_t gx, q16_t gy, q16_t gz, q16_t ax, q16_t ay, q16_t az) Update orientation estimate using 6-axis IMU sample.

Public Functions Documentation

function syn_sensor_fusion_get_euler

Retrieve current Euler attitude angles (Roll, Pitch, Yaw).

SYN_Status syn_sensor_fusion_get_euler (
    const SYN_SensorFusion * f,
    SYN_EulerAngles * euler
) 

Parameters:

• f Filter instance.
• euler Output Euler angles pointer.

Returns:

SYN_OK on success, SYN_INVALID_PARAM if NULL.

---

function syn_sensor_fusion_get_quaternion

Retrieve current quaternion orientation estimate.

SYN_Status syn_sensor_fusion_get_quaternion (
    const SYN_SensorFusion * f,
    SYN_Quaternion * q
) 

Parameters:

• f Filter instance.
• q Output quaternion pointer.

Returns:

SYN_OK on success, SYN_INVALID_PARAM if NULL.

---

function syn_sensor_fusion_init

Initialize the IMU sensor fusion filter.

void syn_sensor_fusion_init (
    SYN_SensorFusion * f,
    q16_t Kp,
    q16_t Ki,
    q16_t dt
) 

Parameters:

• f Filter instance.
• Kp Proportional error gain (e.g., Q16_FROM_FLOAT(2.0)).
• Ki Integral error gain (e.g., Q16_FROM_FLOAT(0.005)).
• dt Sampling interval in seconds (e.g., Q16_FROM_FLOAT(0.01) for 100 Hz).

---

function syn_sensor_fusion_reset

Reset filter state to initial identity orientation (q = [1, 0, 0, 0]).

void syn_sensor_fusion_reset (
    SYN_SensorFusion * f
) 

Parameters:

• f Filter instance.

---

function syn_sensor_fusion_update

Update orientation estimate using 6-axis IMU sample.

SYN_Status syn_sensor_fusion_update (
    SYN_SensorFusion * f,
    q16_t gx,
    q16_t gy,
    q16_t gz,
    q16_t ax,
    q16_t ay,
    q16_t az
) 

Parameters:

• f Filter instance.
• gx Gyroscope X rate in rad/s (Q16.16).
• gy Gyroscope Y rate in rad/s (Q16.16).
• gz Gyroscope Z rate in rad/s (Q16.16).
• ax Accelerometer X acceleration in g or m/s² (Q16.16).
• ay Accelerometer Y acceleration in g or m/s² (Q16.16).
• az Accelerometer Z acceleration in g or m/s² (Q16.16).

Returns:

SYN_OK on success, SYN_INVALID_PARAM if NULL.

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The documentation for this class was generated from the following file src/syntropic/sensor/syn_sensor_fusion.h