Fabio Bobrow / Cubli

Cubli library

MadgwickAHRS/MadgwickAHRS.h@2:dc7840a67f77, 2019-02-25 (annotated)

Committer:
fbob
Date:
Mon Feb 25 16:39:52 2019 +0000
Revision:
2:dc7840a67f77
Update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 2:dc7840a67f77 1 //=====================================================================================================
fbob 2:dc7840a67f77 2 // MadgwickAHRS.h
fbob 2:dc7840a67f77 3 //=====================================================================================================
fbob 2:dc7840a67f77 4 //
fbob 2:dc7840a67f77 5 // Implementation of Madgwick's IMU and AHRS algorithms.
fbob 2:dc7840a67f77 6 // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
fbob 2:dc7840a67f77 7 //
fbob 2:dc7840a67f77 8 // Date Author Notes
fbob 2:dc7840a67f77 9 // 29/09/2011 SOH Madgwick Initial release
fbob 2:dc7840a67f77 10 // 02/10/2011 SOH Madgwick Optimised for reduced CPU load
fbob 2:dc7840a67f77 11 //
fbob 2:dc7840a67f77 12 //=====================================================================================================
fbob 2:dc7840a67f77 13 #ifndef MadgwickAHRS_h
fbob 2:dc7840a67f77 14 #define MadgwickAHRS_h
fbob 2:dc7840a67f77 15
fbob 2:dc7840a67f77 16 //----------------------------------------------------------------------------------------------------
fbob 2:dc7840a67f77 17 // Variable declaration
fbob 2:dc7840a67f77 18
fbob 2:dc7840a67f77 19 extern volatile float beta; // algorithm gain
fbob 2:dc7840a67f77 20 extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
fbob 2:dc7840a67f77 21
fbob 2:dc7840a67f77 22 //---------------------------------------------------------------------------------------------------
fbob 2:dc7840a67f77 23 // Function declarations
fbob 2:dc7840a67f77 24
fbob 2:dc7840a67f77 25 void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
fbob 2:dc7840a67f77 26 void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
fbob 2:dc7840a67f77 27
fbob 2:dc7840a67f77 28 #endif
fbob 2:dc7840a67f77 29 //=====================================================================================================
fbob 2:dc7840a67f77 30 // End of file
fbob 2:dc7840a67f77 31 //=====================================================================================================