Indicates whether gravity norm must be adjusted to either Earth standard norm, or norm at provided location. If no location is provided, this should only be enabled when device is close to sea level.

currentDate

var currentDate: Date?

Timestamp being used when World Magnetic Model is evaluated to obtain current magnetic declination. This is only taken into account if useWorldMagneticModel is true. If not defined, current date is assumed.

fusedAttitude

val fusedAttitude: Quaternion

Instance being reused to externally notify attitudes so that it does not have additional effects if it is modified.

gravity

val gravity: AccelerationTriad

Gets a new triad containing gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

val gx: Double

X-coordinates of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

val gy: Double

Y-coordinate of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

gyroscopeTimeIntervalSeconds

val gyroscopeTimeIntervalSeconds: Double

Time interval expressed in seconds between consecutive gyroscope measurements

val gz: Double

Z-coordinate of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

indirectInterpolationWeight

var indirectInterpolationWeight: Double

Factor to take into account when interpolation value is computed and useIndirectInterpolation is enabled to determine actual interpolation value based on current relative attitude rotation velocity.

interpolationValue

var interpolationValue: Double

Interpolation value to be used to combine both geomagnetic and relative attitudes. Must be between 0.0 and 1.0 (both included). The closer to 0.0 this value is, the more resemblance the result will have to a pure geomagnetic (which feels more jerky when using accelerometer). On the contrary, the closer to 1.0 this value is, the more resemblance the result will have to a pure non-leveled relative attitude (which feels softer but might have arbitrary roll pitch and yaw Euler angles).

location

var location: Location?

Gets or sets device location

outlierPanicThreshold

var outlierPanicThreshold: Double

Threshold to determine that geomagnetic attitude has largely diverged and if situation is not reverted soon, attitude will be reset to geomagnetic one.

outlierThreshold

var outlierThreshold: Double

Threshold to determine that current geomagnetic attitude appears to be an outlier respect to estimated fused attitude. When geomagnetic attitude and fused attitudes diverge, fusion is not performed, and instead only gyroscope relative attitude is used for fusion estimation.

panicCounterThreshold

var panicCounterThreshold: Int

Threshold to determine when fused attitude has largely diverged for a given number of samples and must be reset.

processorListener

var processorListener: BaseFusedGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?

listener to notify new fused absolute attitudes.

useAccurateLevelingProcessor

var useAccurateLevelingProcessor: Boolean

Indicates whether accurate leveling must be used or not.

useAccurateRelativeGyroscopeAttitudeProcessor

var useAccurateRelativeGyroscopeAttitudeProcessor: Boolean

Indicates whether accurate non-leveled relative attitude processor must be used or not.

useIndirectInterpolation

var useIndirectInterpolation: Boolean

Indicates whether fusion between leveling and relative attitudes occurs based on changing interpolation value that depends on actual relative attitude rotation velocity.

useWorldMagneticModel

var useWorldMagneticModel: Boolean

Indicates whether world magnetic model is taken into account to adjust attitude yaw angle by current magnetic declination based on current World Magnetic Model, location and timestamp. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

worldMagneticModel

var worldMagneticModel: WorldMagneticModel?

Earth's magnetic model. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

Functions

getGravity

fun getGravity(result: AccelerationTriad)

Updates provided triad to contain gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

process

abstract fun process(syncedMeasurement: S): Boolean

Processes provided synced measurement to estimate current fused absolute attitude.

reset

fun reset()

Resets internal parameters.