hi_mfusion_steady_detect_attr

Description

Defines the types of the IMU noise and static detection sensitivity parameters.

Definition

typedef struct {
    hi_u32 steady_time_thr;
    hi_s32 gyro_offset;
    hi_s32 acc_offset;
    hi_s32 gyro_rms;
    hi_s32 acc_rms;
    hi_s32 gyro_offset_factor;
    hi_s32 acc_offset_factor;
    hi_s32 gyro_rms_factor;
    hi_s32 acc_rms_factor;
} hi_mfusion_steady_detect_attr;

Members

Member	Description
steady_time_thr	Time threshold of the freeze state, in seconds. Online temperature drift calibration is started only when the static state exceeds the configured duration. Value range: [0, (1<<16)-1] Default value: 3 (video recorder) or 1 (DV)
gyro_offset	Typical value of gyro zero offset (absolute value, positive), in DPS (degree per second). Obtain the value (Max value of Initial ZRO Tolerance) from the data sheet. The precision is the same as the gyro data precision, that is, ADC word length – 1. Value range: [0, 100 x (1<<15)] Default value: 327680
acc_offset	Typical value of ACC zero offset (absolute value, positive), in g, indicating a gravity acceleration. Obtain the value (Max value of Initial ZRO Tolerance) from the data sheet. The precision is the same as the gyro data precision, that is, ADC word length – 1. Value range: [0, 0.5 x (1<<15)] Default value: 3276
gyro_rms	Typical RMS noise of the gyro under the current low-pass filtering bandwidth, in DPS-RMS. Calculate its value using the Rate Noise Spectral Density in the data sheet and the current low-pass filtering bandwidth. The precision is the same as the gyro data precision, that is, ADC word length – 1. Value range: [0, 0.5 x (1<<15)] Default value: 1769
acc_rms	Typical RMS noise of the ACC under the current low-pass filtering bandwidth, in g-RMS. Calculate its value using the Rate Noise Spectral Density in the data sheet and the current low-pass filtering bandwidth. The precision is the same as the ACC data precision, that is, ADC word length – 1. Value range: [0, 0.005 x (1<<15)] Default value: 44
gyro_offset_factor	Sensitivity (magnification multiple) of using gyro_offset for static detection. A larger value indicates less sensitive to motion. The precision is 4-bit. Value range: [0, 1000 x (1<<4)] Default value: 32
acc_offset_factor	Sensitivity (magnification multiple) of using acc_offset for static detection. A larger value indicates less sensitive to motion. The precision is 4-bit. Value range: [0, 1000 x (1<<4)] Default value: 32
gyro_rms_factor	Sensitivity (magnification multiple) of using gyro_rms for static detection. A larger value indicates less sensitive to motion. The precision is 4-bit. Value range: [0, 1000 x (1<<4)] Default value: 128 (video recorder) or 200 (DV)
acc_rms_factor	Sensitivity (magnification multiple) of using acc_rms for static detection. A larger value indicates less sensitive to motion. The precision is 4-bit. Value range: [0, 1000 x (1<<4)] Default value: 160 (video recorder) or 1600 (DV)

Parent topic: Data Types