UAVRO / MadgwickAHRS

IMU filter

Dependents:   Q2_Stabi

MadgwickAHRS.h@0:0c61d7209f75, 2016-05-30 (annotated)

Committer:
Decimus
Date:
Mon May 30 08:10:20 2016 +0000
Revision:
0:0c61d7209f75
[+]

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Decimus 0:0c61d7209f75 1 // MadgwickAHRS.h
Decimus 0:0c61d7209f75 2 //=====================================================================================================
Decimus 0:0c61d7209f75 3 //
Decimus 0:0c61d7209f75 4 // Implementation of Madgwick's IMU and AHRS algorithms.
Decimus 0:0c61d7209f75 5 // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
Decimus 0:0c61d7209f75 6 //
Decimus 0:0c61d7209f75 7 // Date Author Notes
Decimus 0:0c61d7209f75 8 // 29/09/2011 SOH Madgwick Initial release
Decimus 0:0c61d7209f75 9 // 02/10/2011 SOH Madgwick Optimised for reduced CPU load
Decimus 0:0c61d7209f75 10 //
Decimus 0:0c61d7209f75 11 //=====================================================================================================
Decimus 0:0c61d7209f75 12 #ifndef MadgwickAHRS_h
Decimus 0:0c61d7209f75 13 #define MadgwickAHRS_h
Decimus 0:0c61d7209f75 14
Decimus 0:0c61d7209f75 15 //----------------------------------------------------------------------------------------------------
Decimus 0:0c61d7209f75 16 // Variable declaration
Decimus 0:0c61d7209f75 17 extern int instability_fix;
Decimus 0:0c61d7209f75 18 extern volatile float beta; // algorithm gain
Decimus 0:0c61d7209f75 19 extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
Decimus 0:0c61d7209f75 20
Decimus 0:0c61d7209f75 21 //extern volatile float quat[4];
Decimus 0:0c61d7209f75 22
Decimus 0:0c61d7209f75 23 //---------------------------------------------------------------------------------------------------
Decimus 0:0c61d7209f75 24 // Function declarations
Decimus 0:0c61d7209f75 25
Decimus 0:0c61d7209f75 26 void MadgwickAHRSupdate(float tdelta, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
Decimus 0:0c61d7209f75 27 void MadgwickAHRSupdateIMU(float tdelta, float gx, float gy, float gz, float ax, float ay, float az);
Decimus 0:0c61d7209f75 28 float invSqrt(float x);
Decimus 0:0c61d7209f75 29
Decimus 0:0c61d7209f75 30 #endif
Decimus 0:0c61d7209f75 31 //=====================================================================================================
Decimus 0:0c61d7209f75 32 // End of file
Decimus 0:0c61d7209f75 33 //=====================================================================================================