imuBosch_BNO055
: This device will connect to the proper analogServer and read the data broadcasted making them available to use for the user application.
More...
#include <imuBosch_BNO055/imuBosch_BNO055.h>
Public Member Functions | |
BoschIMU () | |
~BoschIMU () | |
bool | open (yarp::os::Searchable &config) override |
Open the device and set up parameters/communication. More... | |
bool | close () override |
Close the device. More... | |
bool | read (yarp::sig::Vector &out) override |
Read a vector from the sensor. More... | |
bool | getChannels (int *nc) override |
Get the number of channels of the sensor. More... | |
bool | calibrate (int ch, double v) override |
Calibrate the sensor, single channel. More... | |
size_t | getNrOfThreeAxisGyroscopes () const override |
Get the number of three axis gyroscopes in the device. More... | |
yarp::dev::MAS_status | getThreeAxisGyroscopeStatus (size_t sens_index) const override |
Get the status of three axis gyroscope. More... | |
bool | getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override |
Get the name of three axis gyroscope. More... | |
bool | getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override |
Get the name of the frame in which three axis gyroscope measurements are expressed. More... | |
bool | getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
Get three axis gyroscope measurements. More... | |
size_t | getNrOfThreeAxisLinearAccelerometers () const override |
Get the number of three axis linear accelerometers in the device. More... | |
yarp::dev::MAS_status | getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override |
Get the status of three axis linear accelerometer. More... | |
bool | getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override |
Get the name of three axis linear accelerometer. More... | |
bool | getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override |
Get the name of the frame in which three axis linear accelerometer measurements are expressed. More... | |
bool | getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
Get three axis linear accelerometer measurements. More... | |
size_t | getNrOfThreeAxisMagnetometers () const override |
Get the number of three axis magnetometers in the device. More... | |
yarp::dev::MAS_status | getThreeAxisMagnetometerStatus (size_t sens_index) const override |
Get the status of three axis magnetometer. More... | |
bool | getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override |
Get the name of three axis magnetometer. More... | |
bool | getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override |
Get the name of the frame in which three axis magnetometer measurements are expressed. More... | |
bool | getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
Get three axis magnetometer measurements. More... | |
size_t | getNrOfOrientationSensors () const override |
Get the number of orientation sensors in the device. More... | |
yarp::dev::MAS_status | getOrientationSensorStatus (size_t sens_index) const override |
Get the status of orientation sensor. More... | |
bool | getOrientationSensorName (size_t sens_index, std::string &name) const override |
Get the name of orientation sensor. More... | |
bool | getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override |
Get the name of the frame in which orientation sensor measurements are expressed. More... | |
bool | getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double ×tamp) const override |
Get orientation sensor measurements. More... | |
bool | threadInit () override |
Initialize process with desired device configurations. More... | |
void | threadRelease () override |
Terminate communication with the device and release the thread. More... | |
void | run () override |
Update loop where measurements are read from the device. More... | |
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DeviceDriver () | |
DeviceDriver (const DeviceDriver &other)=delete | |
DeviceDriver (DeviceDriver &&other) noexcept=delete | |
DeviceDriver & | operator= (const DeviceDriver &other)=delete |
DeviceDriver & | operator= (DeviceDriver &&other) noexcept=delete |
~DeviceDriver () override | |
bool | open (yarp::os::Searchable &config) override |
Open the DeviceDriver. More... | |
bool | close () override |
Close the DeviceDriver. More... | |
virtual std::string | id () const |
Return the id assigned to the PolyDriver. More... | |
virtual void | setId (const std::string &id) |
Set the id for this device. More... | |
template<class T > | |
bool | view (T *&x) |
Get an interface to the device driver. More... | |
virtual DeviceDriver * | getImplementation () |
Some drivers are bureaucrats, pointing at others. More... | |
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virtual | ~IConfig () |
Destructor. More... | |
virtual bool | open (Searchable &config) |
Initialize the object. More... | |
virtual bool | close () |
Shut the object down. More... | |
virtual bool | configure (Searchable &config) |
Change online parameters. More... | |
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PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative) | |
Constructor. More... | |
PeriodicThread (double period, PeriodicThreadClock clockAccuracy) | |
Constructor. More... | |
virtual | ~PeriodicThread () |
bool | start () |
Call this to start the thread. More... | |
void | step () |
Call this to "step" the thread rather than starting it. More... | |
void | stop () |
Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More... | |
void | askToStop () |
Stop the thread. More... | |
bool | isRunning () const |
Returns true when the thread is started, false otherwise. More... | |
bool | isSuspended () const |
Returns true when the thread is suspended, false otherwise. More... | |
bool | setPeriod (double period) |
Set the (new) period of the thread. More... | |
double | getPeriod () const |
Return the current period of the thread. More... | |
void | suspend () |
Suspend the thread, the thread keeps running by doLoop is never executed. More... | |
void | resume () |
Resume the thread if previously suspended. More... | |
void | resetStat () |
Reset thread statistics. More... | |
double | getEstimatedPeriod () const |
Return estimated period since last reset. More... | |
void | getEstimatedPeriod (double &av, double &std) const |
Return estimated period since last reset. More... | |
unsigned int | getIterations () const |
Return the number of iterations performed since last reset. More... | |
double | getEstimatedUsed () const |
Return the estimated duration of the run() function since last reset. More... | |
void | getEstimatedUsed (double &av, double &std) const |
Return estimated duration of the run() function since last reset. More... | |
int | setPriority (int priority, int policy=-1) |
Set the priority and scheduling policy of the thread, if the OS supports that. More... | |
int | getPriority () const |
Query the current priority of the thread, if the OS supports that. More... | |
int | getPolicy () const |
Query the current scheduling policy of the thread, if the OS supports that. More... | |
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virtual | ~IGenericSensor () |
virtual bool | read (yarp::sig::Vector &out)=0 |
Read a vector from the sensor. More... | |
virtual bool | getChannels (int *nc)=0 |
Get the number of channels of the sensor. More... | |
virtual bool | calibrate (int ch, double v)=0 |
Calibrate the sensor, single channel. More... | |
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virtual size_t | getNrOfThreeAxisGyroscopes () const =0 |
Get the number of three axis gyroscopes exposed by this sensor. More... | |
virtual yarp::dev::MAS_status | getThreeAxisGyroscopeStatus (size_t sens_index) const =0 |
Get the status of the specified sensor. More... | |
virtual bool | getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const =0 |
Get the name of the specified sensor. More... | |
virtual bool | getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const =0 |
Get the name of the frame of the specified sensor. More... | |
virtual bool | getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const =0 |
Get the last reading of the gyroscope. More... | |
virtual | ~IThreeAxisGyroscopes () |
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virtual size_t | getNrOfThreeAxisLinearAccelerometers () const =0 |
Get the number of three axis linear accelerometers exposed by this device. More... | |
virtual yarp::dev::MAS_status | getThreeAxisLinearAccelerometerStatus (size_t sens_index) const =0 |
Get the status of the specified sensor. More... | |
virtual bool | getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const =0 |
Get the name of the specified sensor. More... | |
virtual bool | getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const =0 |
Get the name of the frame of the specified sensor. More... | |
virtual bool | getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const =0 |
Get the last reading of the specified sensor. More... | |
virtual | ~IThreeAxisLinearAccelerometers () |
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virtual size_t | getNrOfThreeAxisMagnetometers () const =0 |
Get the number of magnetometers exposed by this device. More... | |
virtual yarp::dev::MAS_status | getThreeAxisMagnetometerStatus (size_t sens_index) const =0 |
Get the status of the specified sensor. More... | |
virtual bool | getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const =0 |
Get the name of the specified sensor. More... | |
virtual bool | getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const =0 |
Get the name of the frame of the specified sensor. More... | |
virtual bool | getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const =0 |
Get the last reading of the specified sensor. More... | |
virtual | ~IThreeAxisMagnetometers () |
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virtual size_t | getNrOfOrientationSensors () const =0 |
Get the number of orientation sensors exposed by this device. More... | |
virtual yarp::dev::MAS_status | getOrientationSensorStatus (size_t sens_index) const =0 |
Get the status of the specified sensor. More... | |
virtual bool | getOrientationSensorName (size_t sens_index, std::string &name) const =0 |
Get the name of the specified sensor. More... | |
virtual bool | getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const =0 |
Get the name of the frame of the specified sensor. More... | |
virtual bool | getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double ×tamp) const =0 |
Get the last reading of the orientation sensor as roll pitch yaw. More... | |
virtual | ~IOrientationSensors () |
Protected Types | |
using | ReadFuncPtr = bool(BoschIMU::*)(unsigned char, int, unsigned char *, std::string) |
Functor to choose between i2c or serial comm. More... | |
Protected Member Functions | |
bool | checkWriteResponse (unsigned char *response) |
bool | checkReadResponse (unsigned char *response) |
void | printBuffer (unsigned char *buffer, int length) |
int | readBytes (unsigned char *buffer, int bytes) |
void | dropGarbage () |
void | readSysError () |
bool | sendReadCommandSer (unsigned char register_add, int len, unsigned char *buf, std::string comment="") |
bool | sendWriteCommandSer (unsigned char register_add, int len, unsigned char *cmd, std::string comment="") |
bool | sendAndVerifyCommandSer (unsigned char register_add, int len, unsigned char *cmd, std::string comment) |
bool | sendReadCommandI2c (unsigned char register_add, int len, unsigned char *buf, std::string comment="") |
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virtual bool | threadInit () |
Initialization method. More... | |
virtual void | threadRelease () |
Release method. More... | |
virtual void | run ()=0 |
Loop function. More... | |
virtual void | beforeStart () |
Called just before a new thread starts. More... | |
virtual void | afterStart (bool success) |
Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More... | |
Protected Attributes | |
bool | verbose |
Flag to get verbose output. More... | |
short | status |
device status - UNUSED More... | |
int | nChannels |
number of channels in the output port. Default 12. If 16, also includes quaternion data More... | |
yarp::sig::Vector | data |
sensor data buffer More... | |
yarp::sig::Vector | data_tmp |
sensor data temporary buffer More... | |
yarp::math::Quaternion | quaternion |
orientation in quaternion representation More... | |
yarp::math::Quaternion | quaternion_tmp |
orientation in quaternion representation More... | |
yarp::sig::Vector | RPY_angle |
orientation in Euler angle representation More... | |
double | m_timeStamp |
device timestamp More... | |
double | timeLastReport |
timestamp of last reported data More... | |
std::mutex | mutex |
mutex to avoid resource clash More... | |
bool | i2c_flag |
flag to check if device connected through i2c commununication More... | |
bool | checkError |
flag to check read error of sensor data More... | |
int | fd |
file descriptor to open device at system level More... | |
size_t | responseOffset |
yarp::os::ResourceFinder | rf |
resource finder object to load config parameters More... | |
ReadFuncPtr | readFunc |
Functor object. More... | |
unsigned char | command [MAX_MSG_LENGTH] |
packet to be written to the device More... | |
unsigned char | response [MAX_MSG_LENGTH] |
packet to be read from the device More... | |
long int | totMessagesRead |
yarp::sig::Vector | errorCounter |
yarp::sig::Vector | errorReading |
int | errs |
std::atomic< bool > | dataIsValid |
imuBosch_BNO055
: This device will connect to the proper analogServer and read the data broadcasted making them available to use for the user application.
It also made available some function to check and control the state of the remote sensor.
Parameters accepted in the config argument of the open method:
Parameter name | Type | Units | Default Value | Required | Description | Notes |
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comport | string | Yes if i2c not specified | full name of device file | ex '/dev/ttyUSB0', it is mutually exclusive with 'i2c' parameter | ||
baudrate | int | Hz | Yes if i2c not specified | baudrate setting of COM port | ex 115200, used only with serial configuration | |
i2c | string | Yes if comport not specified | full name of device file | ex '/dev/i2c-5', it is mutually exclusive with 'comport' parameter, necessary for i2c configuration | ||
period | int | ms | 10 | No | period of the thread | |
sensor_name | string | sensor_imu_bosch_bno055 | No | full name of the device | ||
frame_name | string | set same as sensor_name | No | full name of the sensor frame in which the measurements are expressed |
Definition at line 136 of file imuBosch_BNO055.h.
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protected |
Functor to choose between i2c or serial comm.
Definition at line 165 of file imuBosch_BNO055.h.
BoschIMU::BoschIMU | ( | ) |
Definition at line 47 of file imuBosch_BNO055.cpp.
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default |
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overridevirtual |
Calibrate the sensor, single channel.
[in] | ch | channel number |
[in] | v | reset value |
Implements yarp::dev::IGenericSensor.
Definition at line 730 of file imuBosch_BNO055.cpp.
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Definition at line 209 of file imuBosch_BNO055.cpp.
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Definition at line 238 of file imuBosch_BNO055.cpp.
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overridevirtual |
Close the device.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 201 of file imuBosch_BNO055.cpp.
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Definition at line 383 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the number of channels of the sensor.
[out] | nc | pointer to storage, return value |
Implements yarp::dev::IGenericSensor.
Definition at line 724 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the number of orientation sensors in the device.
Implements yarp::dev::IOrientationSensors.
Definition at line 855 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the number of three axis gyroscopes in the device.
Implements yarp::dev::IThreeAxisGyroscopes.
Definition at line 816 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the number of three axis linear accelerometers in the device.
Implements yarp::dev::IThreeAxisLinearAccelerometers.
Definition at line 776 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the number of three axis magnetometers in the device.
Implements yarp::dev::IThreeAxisMagnetometers.
Definition at line 893 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of the frame in which orientation sensor measurements are expressed.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | frameName | name of the sensor frame |
Implements yarp::dev::IOrientationSensors.
Definition at line 870 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get orientation sensor measurements.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | out | RPY Euler angles in deg |
[out] | timestamp | timestamp of measurement |
Implements yarp::dev::IOrientationSensors.
Definition at line 875 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of orientation sensor.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | name | name of the sensor |
Implements yarp::dev::IOrientationSensors.
Definition at line 865 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the status of orientation sensor.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
Implements yarp::dev::IOrientationSensors.
Definition at line 860 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of the frame in which three axis gyroscope measurements are expressed.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | frameName | name of the sensor frame |
Implements yarp::dev::IThreeAxisGyroscopes.
Definition at line 832 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get three axis gyroscope measurements.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | out | 3D angular velocity measurement in deg/s |
[out] | timestamp | timestamp of measurement |
Implements yarp::dev::IThreeAxisGyroscopes.
Definition at line 837 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of three axis gyroscope.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | name | name of the sensor |
Implements yarp::dev::IThreeAxisGyroscopes.
Definition at line 827 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the status of three axis gyroscope.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
Implements yarp::dev::IThreeAxisGyroscopes.
Definition at line 822 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of the frame in which three axis linear accelerometer measurements are expressed.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | frameName | name of the sensor frame |
Implements yarp::dev::IThreeAxisLinearAccelerometers.
Definition at line 792 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get three axis linear accelerometer measurements.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | out | 3D linear acceleration measurement in m/s^2 |
[out] | timestamp | timestamp of measurement |
Implements yarp::dev::IThreeAxisLinearAccelerometers.
Definition at line 797 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of three axis linear accelerometer.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | name | name of the sensor |
Implements yarp::dev::IThreeAxisLinearAccelerometers.
Definition at line 787 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the status of three axis linear accelerometer.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
Implements yarp::dev::IThreeAxisLinearAccelerometers.
Definition at line 782 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of the frame in which three axis magnetometer measurements are expressed.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | frameName | name of the sensor frame |
Implements yarp::dev::IThreeAxisMagnetometers.
Definition at line 908 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get three axis magnetometer measurements.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | out | 3D magnetometer measurement |
[out] | timestamp | timestamp of measurement |
Implements yarp::dev::IThreeAxisMagnetometers.
Definition at line 913 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the name of three axis magnetometer.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
[out] | name | name of the sensor |
Implements yarp::dev::IThreeAxisMagnetometers.
Definition at line 903 of file imuBosch_BNO055.cpp.
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overridevirtual |
Get the status of three axis magnetometer.
[in] | sens_index | sensor index (must be 0 in the case BoschIMU) |
Implements yarp::dev::IThreeAxisMagnetometers.
Definition at line 898 of file imuBosch_BNO055.cpp.
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overridevirtual |
Open the device and set up parameters/communication.
[in] | config | searchable object with desired configuration parameters |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 73 of file imuBosch_BNO055.cpp.
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Definition at line 393 of file imuBosch_BNO055.cpp.
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overridevirtual |
Read a vector from the sensor.
[out] | out | a vector containing the sensor's last readings. |
Implements yarp::dev::IGenericSensor.
Definition at line 706 of file imuBosch_BNO055.cpp.
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Definition at line 367 of file imuBosch_BNO055.cpp.
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Definition at line 401 of file imuBosch_BNO055.cpp.
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overridevirtual |
Update loop where measurements are read from the device.
Implements yarp::os::PeriodicThread.
Definition at line 611 of file imuBosch_BNO055.cpp.
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Definition at line 423 of file imuBosch_BNO055.cpp.
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Definition at line 436 of file imuBosch_BNO055.cpp.
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Definition at line 266 of file imuBosch_BNO055.cpp.
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Definition at line 326 of file imuBosch_BNO055.cpp.
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overridevirtual |
Initialize process with desired device configurations.
TODO: meas units, offset and so on ...
Reimplemented from yarp::os::PeriodicThread.
Definition at line 446 of file imuBosch_BNO055.cpp.
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overridevirtual |
Terminate communication with the device and release the thread.
Reimplemented from yarp::os::PeriodicThread.
Definition at line 933 of file imuBosch_BNO055.cpp.
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flag to check read error of sensor data
Definition at line 159 of file imuBosch_BNO055.h.
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packet to be written to the device
Definition at line 168 of file imuBosch_BNO055.h.
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sensor data buffer
Definition at line 149 of file imuBosch_BNO055.h.
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sensor data temporary buffer
Definition at line 150 of file imuBosch_BNO055.h.
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Definition at line 193 of file imuBosch_BNO055.h.
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Definition at line 180 of file imuBosch_BNO055.h.
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Definition at line 181 of file imuBosch_BNO055.h.
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Definition at line 192 of file imuBosch_BNO055.h.
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file descriptor to open device at system level
Definition at line 161 of file imuBosch_BNO055.h.
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flag to check if device connected through i2c commununication
Definition at line 157 of file imuBosch_BNO055.h.
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device timestamp
Definition at line 154 of file imuBosch_BNO055.h.
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mutableprotected |
mutex to avoid resource clash
Definition at line 156 of file imuBosch_BNO055.h.
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number of channels in the output port. Default 12. If 16, also includes quaternion data
Definition at line 148 of file imuBosch_BNO055.h.
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orientation in quaternion representation
Definition at line 151 of file imuBosch_BNO055.h.
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orientation in quaternion representation
Definition at line 152 of file imuBosch_BNO055.h.
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Functor object.
Definition at line 166 of file imuBosch_BNO055.h.
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packet to be read from the device
Definition at line 169 of file imuBosch_BNO055.h.
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Definition at line 162 of file imuBosch_BNO055.h.
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resource finder object to load config parameters
Definition at line 163 of file imuBosch_BNO055.h.
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orientation in Euler angle representation
Definition at line 153 of file imuBosch_BNO055.h.
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device status - UNUSED
Definition at line 147 of file imuBosch_BNO055.h.
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timestamp of last reported data
Definition at line 155 of file imuBosch_BNO055.h.
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Definition at line 179 of file imuBosch_BNO055.h.
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Flag to get verbose output.
Definition at line 146 of file imuBosch_BNO055.h.