library for 9dof using madgwick's algorithm
Dependents: NerfGun_nRF24L01P_TX_9d0f
MadgwickAHRS.h
- Committer:
- b50559
- Date:
- 2015-08-13
- Revision:
- 0:756055ce357a
File content as of revision 0:756055ce357a:
//===================================================================================================== // 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 //=====================================================================================================