Qinchen Gu / IMUfilter

IMU filter

Dependents:   P4_IMU

Fork of IMUfilter by Abe Takumi

Diff: IMUfilter.cpp

Revision:
1:8a920397b510
Parent:
0:976ab2e4e4bd
--- a/IMUfilter.cpp	Mon Sep 06 13:54:41 2010 +0000
+++ b/IMUfilter.cpp	Mon Sep 06 14:18:33 2010 +0000
@@ -208,3 +208,21 @@
     return psi;
 
 }
+
+void IMUfilter::reset(void) {
+
+    firstUpdate = 0;
+
+    //Quaternion orientation of earth frame relative to auxiliary frame.
+    AEq_1 = 1;
+    AEq_2 = 0;
+    AEq_3 = 0;
+    AEq_4 = 0;
+
+    //Estimated orientation quaternion elements with initial conditions.
+    SEq_1 = 1;
+    SEq_2 = 0;
+    SEq_3 = 0;
+    SEq_4 = 0;
+
+}