File content as of revision 0:69340ac25ae9:

//=============================================================================================
//
// Implementation of Madgwick's IMU and AHRS algorithms.
// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
//
// From the x-io website "Open-source resources available on this website are
// provided under the GNU General Public Licence unless an alternative licence
// is provided in source."
//
// Date         Author          Notes
// 29/09/2011   SOH Madgwick    Initial release
// 02/10/2011   SOH Madgwick    Optimised for reduced CPU load
// 19/02/2012   SOH Madgwick    Magnetometer measurement is normalised
//
//=============================================================================================
#include "mbed.h"
#include "Madgwick.h"

Madgwick::Madgwick(float gain)
{
    beta = gain;
}

void Madgwick::update_attitude(float gx, float gy, float gz, float ax, float ay, float az, float sampleFreq) 
{
  // Convert gyroscope degrees/sec to radians/sec
  gx *= 0.0174533f;
  gy *= 0.0174533f;
  gz *= 0.0174533f;
// Rate of change of quaternion from gyroscope
  qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
  qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
  qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
  qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
  if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {

// Normalise accelerometer measurement
    recipNorm = invSqrt(ax * ax + ay * ay + az * az);
    ax *= recipNorm;
    ay *= recipNorm;
    az *= recipNorm;

// Auxiliary variables to avoid repeated arithmetic
    _2q0 = 2.0f * q0;
    _2q1 = 2.0f * q1;
    _2q2 = 2.0f * q2;
    _2q3 = 2.0f * q3;
    _4q0 = 4.0f * q0;
    _4q1 = 4.0f * q1;
    _4q2 = 4.0f * q2;
    _8q1 = 8.0f * q1;
    _8q2 = 8.0f * q2;
    q0q0 = q0 * q0;
    q1q1 = q1 * q1;
    q2q2 = q2 * q2;
    q3q3 = q3 * q3;

// Gradient decent algorithm corrective step
    s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
    s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
    s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
    s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
    recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
    s0 *= recipNorm;
    s1 *= recipNorm;
    s2 *= recipNorm;
    s3 *= recipNorm;

// Apply feedback step
    qDot1 -= beta * s0;
    qDot2 -= beta * s1;
    qDot3 -= beta * s2;
    qDot4 -= beta * s3;
  }

// Integrate rate of change of quaternion to yield quaternion
  q0 += qDot1 * sampleFreq;
  q1 += qDot2 * sampleFreq;
  q2 += qDot3 * sampleFreq;
  q3 += qDot4 * sampleFreq;

// Normalise quaternion
  recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
  q0 *= recipNorm;
  q1 *= recipNorm;
  q2 *= recipNorm;
  q3 *= recipNorm;

//Euler transformation
    roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2) * 57.2958;              //convert radians to degrees and multiply by 12 for esc resolution 57.2958 * 12 = 687.5496
    pitch = asinf(-2.0f * (q1*q3 - q0*q2)) * 57.2958;
    yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3) * 57.2958;
}

float Madgwick::getRoll() {
    return roll;
}

float Madgwick::getPitch() {
    return pitch;
}

float Madgwick::getYaw() {
    return yaw;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//speed square inverse
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
float Madgwick::invSqrt(float x) {
  float halfx = 0.5f * x;
  float y = x;
  long i = *(long*)&y;
  i = 0x5f3759df - (i>>1);
  y = *(float*)&i;
  y = y * (1.5f - (halfx * y * y));
  return y;
}