Diff: MadgwickAHRS.h

Revision:

0:756055ce357a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MadgwickAHRS.h	Thu Aug 13 22:11:38 2015 +0000
@@ -0,0 +1,45 @@
+//=====================================================================================================
+// 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
+
+//----------------------------------------------------------------------------------------------------
+
+class MadgwickAHRS{
+    
+public:
+
+    MadgwickAHRS(float Freq);
+    
+    //Function declarations
+    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);
+    void getEuler();
+    int16_t getRoll();
+    int16_t getPitch();
+    int16_t getYaw();
+    
+    
+private:
+    
+    // Variable declaration
+    float sampleFreq;
+    float roll;
+    float pitch;
+    float yaw;
+};
+
+#endif
+//=====================================================================================================
+// End of file
+//=====================================================================================================