IMU filter
MadgwickAHRS.h
- Committer:
- Decimus
- Date:
- 2016-05-30
- Revision:
- 0:0c61d7209f75
File content as of revision 0:0c61d7209f75:
// 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 //=====================================================================================================