AHRS Library
Diff: MadgwickAHRS.cpp
- Revision:
- 3:6811c0ce95f6
- Parent:
- 1:36bbe04e1f6f
--- a/MadgwickAHRS.cpp Fri Oct 26 05:56:25 2018 +0000 +++ b/MadgwickAHRS.cpp Tue Dec 04 15:49:48 2018 +0000 @@ -26,7 +26,6 @@ //------------------------------------------------------------------------------------------- // Definitions -#define sampleFreqDef 100.0f // sample frequency in Hz #define betaDef 0.25f // 2 * proportional gain 0.1 - 0.5 - 5; 8 @@ -36,13 +35,13 @@ //------------------------------------------------------------------------------------------- // AHRS algorithm update -Madgwick::Madgwick() { +Madgwick::Madgwick(float Ts) { beta = betaDef; q0 = 1.0f; q1 = 0.0f; q2 = 0.0f; q3 = 0.0f; - invSampleFreq = 1.0f / sampleFreqDef; + invSampleFreq = Ts; anglesComputed = 0; }