Diff: MadgwickAHRS.h

Revision:

0:0c61d7209f75

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MadgwickAHRS.h	Mon May 30 08:10:20 2016 +0000
@@ -0,0 +1,33 @@
+// MadgwickAHRS.h
+//=====================================================================================================
+//
+// Implementation of Madgwick's IMU and AHRS algorithms.
+// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+//
+// Date			Author          Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+//=====================================================================================================
+#ifndef MadgwickAHRS_h
+#define MadgwickAHRS_h
+
+//----------------------------------------------------------------------------------------------------
+// Variable declaration
+extern int instability_fix;
+extern volatile float beta;				// algorithm gain
+extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame
+
+//extern volatile float quat[4];
+
+//---------------------------------------------------------------------------------------------------
+// Function declarations
+
+void MadgwickAHRSupdate(float tdelta, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+void MadgwickAHRSupdateIMU(float tdelta, float gx, float gy, float gz, float ax, float ay, float az);
+float invSqrt(float x);
+
+#endif
+//=====================================================================================================
+// End of file
+//=====================================================================================================