Latest version of my quadcopter controller with an LPC1768 and MPU9250.
Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.
Diff: Madgwick/MadgwickAHRS.h
- Revision:
- 0:0929d3d566cf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Madgwick/MadgwickAHRS.h Mon Jul 09 16:31:40 2018 +0000 @@ -0,0 +1,75 @@ +//============================================================================================= +// MadgwickAHRS.h +//============================================================================================= +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// From the x-io website "Open-source resources available on this website are +// provided under the GNU General Public Licence unless an alternative licence +// is provided in source." +// +// 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 +#include <math.h> + +//-------------------------------------------------------------------------------------------- +// Variable declaration +class Madgwick{ +private: + static float invSqrt(float x); + float beta; // algorithm gain + float q0; + float q1; + float q2; + float q3; // quaternion of sensor frame relative to auxiliary frame + //float invSampleFreq; + float roll; + float pitch; + float yaw; + char anglesComputed; + void computeAngles(); + +//------------------------------------------------------------------------------------------- +// Function declarations +public: + float invSampleFreq; + Madgwick(void); + void begin(float sampleFrequency) { invSampleFreq = 1.0f / sampleFrequency; } + void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz); + void updateIMU(float gx, float gy, float gz, float ax, float ay, float az); + //float getPitch(){return atan2f(2.0f * q2 * q3 - 2.0f * q0 * q1, 2.0f * q0 * q0 + 2.0f * q3 * q3 - 1.0f);}; + //float getRoll(){return -1.0f * asinf(2.0f * q1 * q3 + 2.0f * q0 * q2);}; + //float getYaw(){return atan2f(2.0f * q1 * q2 - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);}; + float getRoll() { + if (!anglesComputed) computeAngles(); + return roll * 57.29578f; + } + float getPitch() { + if (!anglesComputed) computeAngles(); + return pitch * 57.29578f; + } + float getYaw() { + if (!anglesComputed) computeAngles(); + return yaw * 57.29578f + 180.0f; + } + float getRollRadians() { + if (!anglesComputed) computeAngles(); + return roll; + } + float getPitchRadians() { + if (!anglesComputed) computeAngles(); + return pitch; + } + float getYawRadians() { + if (!anglesComputed) computeAngles(); + return yaw; + } +}; +#endif +