Rio Harris / Madgwick_Algorithm

library for 9dof using madgwick's algorithm

Dependents:   NerfGun_nRF24L01P_TX_9d0f

MadgwickAHRS.h@0:756055ce357a, 2015-08-13 (annotated)

Committer:
b50559
Date:
Thu Aug 13 22:11:38 2015 +0000
Revision:
0:756055ce357a
created library for sensor fusion using madgwick's algorithm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
b50559 0:756055ce357a 1 //=====================================================================================================
b50559 0:756055ce357a 2 // MadgwickAHRS.h
b50559 0:756055ce357a 3 //=====================================================================================================
b50559 0:756055ce357a 4 //
b50559 0:756055ce357a 5 // Implementation of Madgwick's IMU and AHRS algorithms.
b50559 0:756055ce357a 6 // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
b50559 0:756055ce357a 7 //
b50559 0:756055ce357a 8 // Date Author Notes
b50559 0:756055ce357a 9 // 29/09/2011 SOH Madgwick Initial release
b50559 0:756055ce357a 10 // 02/10/2011 SOH Madgwick Optimised for reduced CPU load
b50559 0:756055ce357a 11 //
b50559 0:756055ce357a 12 //=====================================================================================================
b50559 0:756055ce357a 13 #ifndef MadgwickAHRS_h
b50559 0:756055ce357a 14 #define MadgwickAHRS_h
b50559 0:756055ce357a 15
b50559 0:756055ce357a 16 //----------------------------------------------------------------------------------------------------
b50559 0:756055ce357a 17
b50559 0:756055ce357a 18 class MadgwickAHRS{
b50559 0:756055ce357a 19
b50559 0:756055ce357a 20 public:
b50559 0:756055ce357a 21
b50559 0:756055ce357a 22 MadgwickAHRS(float Freq);
b50559 0:756055ce357a 23
b50559 0:756055ce357a 24 //Function declarations
b50559 0:756055ce357a 25 void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
b50559 0:756055ce357a 26 void updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
b50559 0:756055ce357a 27 void getEuler();
b50559 0:756055ce357a 28 int16_t getRoll();
b50559 0:756055ce357a 29 int16_t getPitch();
b50559 0:756055ce357a 30 int16_t getYaw();
b50559 0:756055ce357a 31
b50559 0:756055ce357a 32
b50559 0:756055ce357a 33 private:
b50559 0:756055ce357a 34
b50559 0:756055ce357a 35 // Variable declaration
b50559 0:756055ce357a 36 float sampleFreq;
b50559 0:756055ce357a 37 float roll;
b50559 0:756055ce357a 38 float pitch;
b50559 0:756055ce357a 39 float yaw;
b50559 0:756055ce357a 40 };
b50559 0:756055ce357a 41
b50559 0:756055ce357a 42 #endif
b50559 0:756055ce357a 43 //=====================================================================================================
b50559 0:756055ce357a 44 // End of file
b50559 0:756055ce357a 45 //=====================================================================================================