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
//=====================================================================================================