Inertial measurement unit orientation filter. Ported from Sebastian Madgwick's paper, "An efficient orientation filter for inertial and inertial/magnetic sensor arrays".
IMUfilter Class Reference
IMU orientation filter. More...
|IMUfilter (double rate, double gyroscopeMeasurementError)|
|void||updateFilter (double w_x, double w_y, double w_z, double a_x, double a_y, double a_z)|
|Update the filter variables. |
|Compute the Euler angles based on the current filter data. |
|Get the current roll. |
|Get the current pitch. |
|Get the current yaw. |
|Reset the filter. |
IMU orientation filter.
Constructor & Destructor Documentation
Initializes filter variables.
rate The rate at which the filter should be updated. gyroscopeMeasurementError The error of the gyroscope in degrees per second. This used to calculate a tuning constant for the filter. Try changing this value if there are jittery readings, or they change too much or too fast when rotating the IMU.
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IMU orientation filter developed by Sebastian Madgwick.
Find more details about his paper here:
Member Function Documentation
Update the filter variables.
w_x X-axis gyroscope reading in rad/s. w_y Y-axis gyroscope reading in rad/s. w_z Z-axis gyroscope reading in rad/s. a_x X-axis accelerometer reading in m/s/s. a_y Y-axis accelerometer reading in m/s/s. a_z Z-axis accelerometer reading in m/s/s.
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