hi,could i use the function BSX_S8 bsx_get_gyrocordata_rps(ts_dataxyzf32*) in BSXLITE fusion library ?
and i find that ts_dataxyzf32* is in BsxLibraryDataTypes.h.
/*brief 3-axis data as F32*/
BSX_F32 x; /**< x-axis data */
BSX_F32 y; /**< y-axis data */
BSX_F32 z; /**< z-axis data */
but i find other functions that also use 'ts_dataxyzf32*'in BSXLITE fusion library,such as BSX_S8 bsx_get_acccordata(ts_dataxyzf32*);
how can i distinguish between them?
could i use them directly?
Yes, you can use that function to get corrected gyro data from BSX lite lib.
ts_dataxyzf32 is just a data type defined for lib output which contains x / y / z data. so it is the datatype used as gyro and acc output.
you can easily distinguish them by their name.
bsx_get_gyrocordata_rps is function to read out gyro data in unit of rad per second
bsx_get_acccordata is function to read out acceleration data
i could see the acc data now.
but the data seems to be too large ,maybe overflow .
the acc sensor is 14 -bit.
i can not understand why the data is too large.
i use the function as follows:
bmf055_acc_data_int_x= conv_scale_float_int16(bmf055_acco.x, QUAT_SCALING_FACTOR);//QUAT_SCALING_FACTOR=1
Yes, the acc data is 14 bit but the BSX arleady convert the acc data as physical unit (m/s2) and use 16 bits when you call that funciton.