Added gravity accuracy tests

Author: anant3110

examples/Example23-Gravity/Example23-Gravity.ino

@@ -64,13 +64,17 @@ void loop() {
     float gravityX = myIMU.getGravityX();
     float gravityY = myIMU.getGravityY();
     float gravityZ = myIMU.getGravityZ();
+    float gravityAccuracy = myIMU.getGravityAccuracy();
 
     Serial.print(gravityX, 2);
     Serial.print(F(","));
     Serial.print(gravityY, 2);
     Serial.print(F(","));
     Serial.print(gravityZ, 2);
     Serial.print(F(","));
+    Serial.print(gravityAccuracy, 2);
+    Serial.print(F(","));
+    
 
     Serial.println();
   }

keywords.txt

@@ -39,6 +39,7 @@ enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
+enableGravity KEYWORD2
 enableMagnetometer	KEYWORD2
 enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
@@ -75,6 +76,12 @@ getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getGravity KEYWORD2
+getGravityX KEYWORD2
+getGravityY KEYWORD2
+getGravityZ KEYWORD2
+getGravityAccuracy KEYWORD2
+
 getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -403,6 +403,7 @@ uint16_t BNO080::parseInputReport(void)
 	}
 	else if(shtpData[5] == SENSOR_REPORTID_GRAVITY)
 	{
+		gravityAccuracy = status;
 		gravityX = data1;
 		gravityY = data2;
 		gravityZ = data3;
@@ -669,27 +670,6 @@ void BNO080::getGyro(float &x, float &y, float &z, uint8_t &accuracy)
 	accuracy = gyroAccuracy;
 }
 
-//Return the gravity component
-float BNO080::getGravityX()
-{
-	float x = qToFloat(gravityX, gravity_Q1);
-	return x;
-}
-
-//Return the gravity component
-float BNO080::getGravityY()
-{
-	float y = qToFloat(gravityY, gravity_Q1);
-	return y;
-}
-
-//Return the gravity component
-float BNO080::getGravityZ()
-{
-	float z = qToFloat(gravityZ, gravity_Q1);
-	return z;
-}
-
 //Return the gyro component
 float BNO080::getGyroX()
 {
@@ -717,6 +697,41 @@ uint8_t BNO080::getGyroAccuracy()
 	return (gyroAccuracy);
 }
 
+//Gets the full gravity vector
+//x,y,z output floats
+void BNO080::getGravity(float &x, float &y, float &z, uint8_t &accuracy)
+{
+	x = qToFloat(gravityX, gravity_Q1);
+	y = qToFloat(gravityX, gravity_Q1);
+	z = qToFloat(gravityX, gravity_Q1);
+	accuracy = gravityAccuracy;
+}
+
+float BNO080::getGravityX()
+{
+	float x = qToFloat(gravityX, gravity_Q1);
+	return x;
+}
+
+//Return the gravity component
+float BNO080::getGravityY()
+{
+	float y = qToFloat(gravityY, gravity_Q1);
+	return y;
+}
+
+//Return the gravity component
+float BNO080::getGravityZ()
+{
+	float z = qToFloat(gravityZ, gravity_Q1);
+	return z;
+}
+
+uint8_t BNO080::getGravityAccuracy()
+{
+	return (gravityAccuracy);
+}
+
 //Gets the full mag vector
 //x,y,z output floats
 void BNO080::getMag(float &x, float &y, float &z, uint8_t &accuracy)

src/SparkFun_BNO080_Arduino_Library.h

@@ -209,9 +209,11 @@ class BNO080
 	float getMagZ();
 	uint8_t getMagAccuracy();
 
+	void getGravity(float &x, float &y, float &z, uint8_t &accuracy);
 	float getGravityX();
 	float getGravityY();
 	float getGravityZ();
+	uint8_t getGravityAccuracy();
 
 	void calibrateAccelerometer();
 	void calibrateGyro();
@@ -291,7 +293,7 @@ class BNO080
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
 	uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;
-	uint16_t gravityX, gravityY, gravityZ;
+	uint16_t gravityX, gravityY, gravityZ, gravityAccuracy;
 	uint8_t tapDetector;
 	uint16_t stepCount;
 	uint32_t timeStamp;