SensorFusion.h

00001 #ifndef SENSORFUSION_H_INCLUDED
00002 #define SENSORFUSION_H_INCLUDED
00003 
00004 #include "math.h"
00005 #define FTimer          1000.0f             ///Hz
00006 #define sample_time     1.0f/FTimer
00007 #define Alpha           FTimer/25.0f
00008 
00009 extern float axm, aym, azm, u1, u2, u3, mx, my, mz;
00010 extern float Ac[3];
00011 
00012 extern float axm_f, axm_f_old, u3aym_f, u3aym_f_old, u2azm_f, u2azm_f_old;
00013 extern float aym_f, aym_f_old, u3axm_f, u3axm_f_old, u1azm_f, u1azm_f_old;
00014 extern float azm_f, azm_f_old, u2axm_f, u2axm_f_old, u1aym_f, u1aym_f_old;
00015 
00016 extern float x1_hat, x2_hat, x3_hat;
00017 extern float sinroll, cosroll, roll_angle, droll_angle, droll_angle_old;
00018 extern float sinpitch, cospitch, yaw_ref, yaw_angle, yaw_angle_old, dyaw_angle, dyaw_angle_old;
00019 
00020 //extern void CentrifugalAcce_Compensation(float velocity);
00021 extern float lpf(float input,float input_old,float frequency);
00022 extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha);
00023 extern float Determinant(float x11, float x12, float x21, float x22);
00024 extern float absolute(float value);
00025 
00026 extern void Reset_data(void);
00027 
00028 #endif // SENSORFUSION_H_INCLUDED