File content as of revision 2:dc7840a67f77:

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

//----------------------------------------------------------------------------------------------------
// Variable declaration

extern volatile float beta;             // algorithm gain
extern volatile float q0, q1, q2, q3;   // quaternion of sensor frame relative to auxiliary frame

//---------------------------------------------------------------------------------------------------
// Function declarations

void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);

#endif
//=====================================================================================================
// End of file
//=====================================================================================================