Alberto Petrucci / Mbed 2 deprecated IMU-9DOF-KALMAN

Simple example to show how to get an estimation of the attitude with a 9DOF IMU and the Kalman filter

Dependencies:   L3GD20 LSM303DLHC mbed-dsp mbed

Fork of minimu-9v2 by brian claus

sensfusion9.h@1:ba2d31e3112d, 2017-03-25 (annotated)

Committer:
capriele
Date:
Sat Mar 25 16:48:32 2017 +0000
Revision:
1:ba2d31e3112d
Simple example to get an estimation of the attitude thought a 9DOF IMU and the Kalman filter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
capriele 1:ba2d31e3112d 1 /**
capriele 1:ba2d31e3112d 2 * || ____ _ __ ______
capriele 1:ba2d31e3112d 3 * +------+ / __ )(_) /_/ ____/_________ _____ ___
capriele 1:ba2d31e3112d 4 * | 0xBC | / __ / / __/ / / ___/ __ `/_ / / _ \
capriele 1:ba2d31e3112d 5 * +------+ / /_/ / / /_/ /___ / / / /_/ / / /_/ __/
capriele 1:ba2d31e3112d 6 * || || /_____/_/\__/\____//_/ \__,_/ /___/\___/
capriele 1:ba2d31e3112d 7 *
capriele 1:ba2d31e3112d 8 * Crazyflie control firmware
capriele 1:ba2d31e3112d 9 *
capriele 1:ba2d31e3112d 10 * Copyright (C) 2011-2012 Bitcraze AB
capriele 1:ba2d31e3112d 11 *
capriele 1:ba2d31e3112d 12 * This program is free software: you can redistribute it and/or modify
capriele 1:ba2d31e3112d 13 * it under the terms of the GNU General Public License as published by
capriele 1:ba2d31e3112d 14 * the Free Software Foundation, in version 3.
capriele 1:ba2d31e3112d 15 *
capriele 1:ba2d31e3112d 16 * This program is distributed in the hope that it will be useful,
capriele 1:ba2d31e3112d 17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
capriele 1:ba2d31e3112d 18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
capriele 1:ba2d31e3112d 19 * GNU General Public License for more details.
capriele 1:ba2d31e3112d 20 *
capriele 1:ba2d31e3112d 21 * You should have received a copy of the GNU General Public License
capriele 1:ba2d31e3112d 22 * along with this program. If not, see <http://www.gnu.org/licenses/>.
capriele 1:ba2d31e3112d 23 *
capriele 1:ba2d31e3112d 24 */
capriele 1:ba2d31e3112d 25
capriele 1:ba2d31e3112d 26 #ifndef SENSORFUSION9_H_
capriele 1:ba2d31e3112d 27 #define SENSORFUSION9_H_
capriele 1:ba2d31e3112d 28 #include <stdbool.h>
capriele 1:ba2d31e3112d 29
capriele 1:ba2d31e3112d 30
capriele 1:ba2d31e3112d 31 #ifdef __cplusplus
capriele 1:ba2d31e3112d 32 extern "C" {
capriele 1:ba2d31e3112d 33 #endif
capriele 1:ba2d31e3112d 34
capriele 1:ba2d31e3112d 35 void sensfusion9Init(void);
capriele 1:ba2d31e3112d 36 bool sensfusion9Test(void);
capriele 1:ba2d31e3112d 37
capriele 1:ba2d31e3112d 38 void sensfusion9UpdateQ(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt);
capriele 1:ba2d31e3112d 39 void sensfusion9GetEulerRPY(float* roll, float* pitch, float* yaw);
capriele 1:ba2d31e3112d 40 void sensfusion9GetQuaternion(float* Q0, float* Q1, float* Q2, float* Q3);
capriele 1:ba2d31e3112d 41 float sensfusion9GetAccZWithoutGravity(const float ax, const float ay, const float az);
capriele 1:ba2d31e3112d 42 float sensfusion9GetInvThrustCompensationForTilt();
capriele 1:ba2d31e3112d 43
capriele 1:ba2d31e3112d 44 #ifdef __cplusplus
capriele 1:ba2d31e3112d 45 }
capriele 1:ba2d31e3112d 46 #endif
capriele 1:ba2d31e3112d 47
capriele 1:ba2d31e3112d 48 #endif /* SENSORFUSION9_H_ */