Library for MPU6050 motion sensor with Madgwick filter.
Dependents: ScilabArduino MPU6050_Hello
MPU6050.h@0:9c2bb0f94c31, 2021-01-18 (annotated)
- Committer:
- hudakz
- Date:
- Mon Jan 18 19:44:43 2021 +0000
- Revision:
- 0:9c2bb0f94c31
Library for MPU6050 with Madgwick filter.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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hudakz | 0:9c2bb0f94c31 | 1 | #ifndef MPU6050_H |
hudakz | 0:9c2bb0f94c31 | 2 | #define MPU6050_H |
hudakz | 0:9c2bb0f94c31 | 3 | |
hudakz | 0:9c2bb0f94c31 | 4 | #include "mbed.h" |
hudakz | 0:9c2bb0f94c31 | 5 | #include "math.h" |
hudakz | 0:9c2bb0f94c31 | 6 | |
hudakz | 0:9c2bb0f94c31 | 7 | #ifndef M_PI |
hudakz | 0:9c2bb0f94c31 | 8 | #define M_PI 3.14159265358979323846 |
hudakz | 0:9c2bb0f94c31 | 9 | #endif |
hudakz | 0:9c2bb0f94c31 | 10 | |
hudakz | 0:9c2bb0f94c31 | 11 | // Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device |
hudakz | 0:9c2bb0f94c31 | 12 | |
hudakz | 0:9c2bb0f94c31 | 13 | // Invensense Inc., www.invensense.com |
hudakz | 0:9c2bb0f94c31 | 14 | // See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in |
hudakz | 0:9c2bb0f94c31 | 15 | // above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor |
hudakz | 0:9c2bb0f94c31 | 16 | // |
hudakz | 0:9c2bb0f94c31 | 17 | #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD |
hudakz | 0:9c2bb0f94c31 | 18 | #define YGOFFS_TC 0x01 |
hudakz | 0:9c2bb0f94c31 | 19 | #define ZGOFFS_TC 0x02 |
hudakz | 0:9c2bb0f94c31 | 20 | #define X_FINE_GAIN 0x03 // [7:0] fine gain |
hudakz | 0:9c2bb0f94c31 | 21 | #define Y_FINE_GAIN 0x04 |
hudakz | 0:9c2bb0f94c31 | 22 | #define Z_FINE_GAIN 0x05 |
hudakz | 0:9c2bb0f94c31 | 23 | #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer |
hudakz | 0:9c2bb0f94c31 | 24 | #define XA_OFFSET_L_TC 0x07 |
hudakz | 0:9c2bb0f94c31 | 25 | #define YA_OFFSET_H 0x08 |
hudakz | 0:9c2bb0f94c31 | 26 | #define YA_OFFSET_L_TC 0x09 |
hudakz | 0:9c2bb0f94c31 | 27 | #define ZA_OFFSET_H 0x0A |
hudakz | 0:9c2bb0f94c31 | 28 | #define ZA_OFFSET_L_TC 0x0B |
hudakz | 0:9c2bb0f94c31 | 29 | #define SELF_TEST_X 0x0D |
hudakz | 0:9c2bb0f94c31 | 30 | #define SELF_TEST_Y 0x0E |
hudakz | 0:9c2bb0f94c31 | 31 | #define SELF_TEST_Z 0x0F |
hudakz | 0:9c2bb0f94c31 | 32 | #define SELF_TEST_A 0x10 |
hudakz | 0:9c2bb0f94c31 | 33 | #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? |
hudakz | 0:9c2bb0f94c31 | 34 | #define XG_OFFS_USRL 0x14 |
hudakz | 0:9c2bb0f94c31 | 35 | #define YG_OFFS_USRH 0x15 |
hudakz | 0:9c2bb0f94c31 | 36 | #define YG_OFFS_USRL 0x16 |
hudakz | 0:9c2bb0f94c31 | 37 | #define ZG_OFFS_USRH 0x17 |
hudakz | 0:9c2bb0f94c31 | 38 | #define ZG_OFFS_USRL 0x18 |
hudakz | 0:9c2bb0f94c31 | 39 | #define SMPLRT_DIV 0x19 |
hudakz | 0:9c2bb0f94c31 | 40 | #define CONFIG 0x1A |
hudakz | 0:9c2bb0f94c31 | 41 | #define GYRO_CONFIG 0x1B |
hudakz | 0:9c2bb0f94c31 | 42 | #define ACCEL_CONFIG 0x1C |
hudakz | 0:9c2bb0f94c31 | 43 | #define FF_THR 0x1D // Free-fall |
hudakz | 0:9c2bb0f94c31 | 44 | #define FF_DUR 0x1E // Free-fall |
hudakz | 0:9c2bb0f94c31 | 45 | #define MOT_THR 0x1F // Motion detection threshold bits [7:0] |
hudakz | 0:9c2bb0f94c31 | 46 | #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms |
hudakz | 0:9c2bb0f94c31 | 47 | #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] |
hudakz | 0:9c2bb0f94c31 | 48 | #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms |
hudakz | 0:9c2bb0f94c31 | 49 | #define FIFO_EN 0x23 |
hudakz | 0:9c2bb0f94c31 | 50 | #define I2C_MST_CTRL 0x24 |
hudakz | 0:9c2bb0f94c31 | 51 | #define I2C_SLV0_ADDR 0x25 |
hudakz | 0:9c2bb0f94c31 | 52 | #define I2C_SLV0_REG 0x26 |
hudakz | 0:9c2bb0f94c31 | 53 | #define I2C_SLV0_CTRL 0x27 |
hudakz | 0:9c2bb0f94c31 | 54 | #define I2C_SLV1_ADDR 0x28 |
hudakz | 0:9c2bb0f94c31 | 55 | #define I2C_SLV1_REG 0x29 |
hudakz | 0:9c2bb0f94c31 | 56 | #define I2C_SLV1_CTRL 0x2A |
hudakz | 0:9c2bb0f94c31 | 57 | #define I2C_SLV2_ADDR 0x2B |
hudakz | 0:9c2bb0f94c31 | 58 | #define I2C_SLV2_REG 0x2C |
hudakz | 0:9c2bb0f94c31 | 59 | #define I2C_SLV2_CTRL 0x2D |
hudakz | 0:9c2bb0f94c31 | 60 | #define I2C_SLV3_ADDR 0x2E |
hudakz | 0:9c2bb0f94c31 | 61 | #define I2C_SLV3_REG 0x2F |
hudakz | 0:9c2bb0f94c31 | 62 | #define I2C_SLV3_CTRL 0x30 |
hudakz | 0:9c2bb0f94c31 | 63 | #define I2C_SLV4_ADDR 0x31 |
hudakz | 0:9c2bb0f94c31 | 64 | #define I2C_SLV4_REG 0x32 |
hudakz | 0:9c2bb0f94c31 | 65 | #define I2C_SLV4_DO 0x33 |
hudakz | 0:9c2bb0f94c31 | 66 | #define I2C_SLV4_CTRL 0x34 |
hudakz | 0:9c2bb0f94c31 | 67 | #define I2C_SLV4_DI 0x35 |
hudakz | 0:9c2bb0f94c31 | 68 | #define I2C_MST_STATUS 0x36 |
hudakz | 0:9c2bb0f94c31 | 69 | #define INT_PIN_CFG 0x37 |
hudakz | 0:9c2bb0f94c31 | 70 | #define INT_ENABLE 0x38 |
hudakz | 0:9c2bb0f94c31 | 71 | #define DMP_INT_STATUS 0x39 // Check DMP interrupt |
hudakz | 0:9c2bb0f94c31 | 72 | #define INT_STATUS 0x3A |
hudakz | 0:9c2bb0f94c31 | 73 | #define ACCEL_XOUT_H 0x3B |
hudakz | 0:9c2bb0f94c31 | 74 | #define ACCEL_XOUT_L 0x3C |
hudakz | 0:9c2bb0f94c31 | 75 | #define ACCEL_YOUT_H 0x3D |
hudakz | 0:9c2bb0f94c31 | 76 | #define ACCEL_YOUT_L 0x3E |
hudakz | 0:9c2bb0f94c31 | 77 | #define ACCEL_ZOUT_H 0x3F |
hudakz | 0:9c2bb0f94c31 | 78 | #define ACCEL_ZOUT_L 0x40 |
hudakz | 0:9c2bb0f94c31 | 79 | #define TEMP_OUT_H 0x41 |
hudakz | 0:9c2bb0f94c31 | 80 | #define TEMP_OUT_L 0x42 |
hudakz | 0:9c2bb0f94c31 | 81 | #define GYRO_XOUT_H 0x43 |
hudakz | 0:9c2bb0f94c31 | 82 | #define GYRO_XOUT_L 0x44 |
hudakz | 0:9c2bb0f94c31 | 83 | #define GYRO_YOUT_H 0x45 |
hudakz | 0:9c2bb0f94c31 | 84 | #define GYRO_YOUT_L 0x46 |
hudakz | 0:9c2bb0f94c31 | 85 | #define GYRO_ZOUT_H 0x47 |
hudakz | 0:9c2bb0f94c31 | 86 | #define GYRO_ZOUT_L 0x48 |
hudakz | 0:9c2bb0f94c31 | 87 | #define EXT_SENS_DATA_00 0x49 |
hudakz | 0:9c2bb0f94c31 | 88 | #define EXT_SENS_DATA_01 0x4A |
hudakz | 0:9c2bb0f94c31 | 89 | #define EXT_SENS_DATA_02 0x4B |
hudakz | 0:9c2bb0f94c31 | 90 | #define EXT_SENS_DATA_03 0x4C |
hudakz | 0:9c2bb0f94c31 | 91 | #define EXT_SENS_DATA_04 0x4D |
hudakz | 0:9c2bb0f94c31 | 92 | #define EXT_SENS_DATA_05 0x4E |
hudakz | 0:9c2bb0f94c31 | 93 | #define EXT_SENS_DATA_06 0x4F |
hudakz | 0:9c2bb0f94c31 | 94 | #define EXT_SENS_DATA_07 0x50 |
hudakz | 0:9c2bb0f94c31 | 95 | #define EXT_SENS_DATA_08 0x51 |
hudakz | 0:9c2bb0f94c31 | 96 | #define EXT_SENS_DATA_09 0x52 |
hudakz | 0:9c2bb0f94c31 | 97 | #define EXT_SENS_DATA_10 0x53 |
hudakz | 0:9c2bb0f94c31 | 98 | #define EXT_SENS_DATA_11 0x54 |
hudakz | 0:9c2bb0f94c31 | 99 | #define EXT_SENS_DATA_12 0x55 |
hudakz | 0:9c2bb0f94c31 | 100 | #define EXT_SENS_DATA_13 0x56 |
hudakz | 0:9c2bb0f94c31 | 101 | #define EXT_SENS_DATA_14 0x57 |
hudakz | 0:9c2bb0f94c31 | 102 | #define EXT_SENS_DATA_15 0x58 |
hudakz | 0:9c2bb0f94c31 | 103 | #define EXT_SENS_DATA_16 0x59 |
hudakz | 0:9c2bb0f94c31 | 104 | #define EXT_SENS_DATA_17 0x5A |
hudakz | 0:9c2bb0f94c31 | 105 | #define EXT_SENS_DATA_18 0x5B |
hudakz | 0:9c2bb0f94c31 | 106 | #define EXT_SENS_DATA_19 0x5C |
hudakz | 0:9c2bb0f94c31 | 107 | #define EXT_SENS_DATA_20 0x5D |
hudakz | 0:9c2bb0f94c31 | 108 | #define EXT_SENS_DATA_21 0x5E |
hudakz | 0:9c2bb0f94c31 | 109 | #define EXT_SENS_DATA_22 0x5F |
hudakz | 0:9c2bb0f94c31 | 110 | #define EXT_SENS_DATA_23 0x60 |
hudakz | 0:9c2bb0f94c31 | 111 | #define MOT_DETECT_STATUS 0x61 |
hudakz | 0:9c2bb0f94c31 | 112 | #define I2C_SLV0_DO 0x63 |
hudakz | 0:9c2bb0f94c31 | 113 | #define I2C_SLV1_DO 0x64 |
hudakz | 0:9c2bb0f94c31 | 114 | #define I2C_SLV2_DO 0x65 |
hudakz | 0:9c2bb0f94c31 | 115 | #define I2C_SLV3_DO 0x66 |
hudakz | 0:9c2bb0f94c31 | 116 | #define I2C_MST_DELAY_CTRL 0x67 |
hudakz | 0:9c2bb0f94c31 | 117 | #define SIGNAL_PATH_RESET 0x68 |
hudakz | 0:9c2bb0f94c31 | 118 | #define MOT_DETECT_CTRL 0x69 |
hudakz | 0:9c2bb0f94c31 | 119 | #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
hudakz | 0:9c2bb0f94c31 | 120 | #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode |
hudakz | 0:9c2bb0f94c31 | 121 | #define PWR_MGMT_2 0x6C |
hudakz | 0:9c2bb0f94c31 | 122 | #define DMP_BANK 0x6D // Activates a specific bank in the DMP |
hudakz | 0:9c2bb0f94c31 | 123 | #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank |
hudakz | 0:9c2bb0f94c31 | 124 | #define DMP_REG 0x6F // Register in DMP from which to read or to which to write |
hudakz | 0:9c2bb0f94c31 | 125 | #define DMP_REG_1 0x70 |
hudakz | 0:9c2bb0f94c31 | 126 | #define DMP_REG_2 0x71 |
hudakz | 0:9c2bb0f94c31 | 127 | #define FIFO_COUNTH 0x72 |
hudakz | 0:9c2bb0f94c31 | 128 | #define FIFO_COUNTL 0x73 |
hudakz | 0:9c2bb0f94c31 | 129 | #define FIFO_R_W 0x74 |
hudakz | 0:9c2bb0f94c31 | 130 | #define WHO_AM_I_MPU6050 0x75 // Should return 0x68 |
hudakz | 0:9c2bb0f94c31 | 131 | |
hudakz | 0:9c2bb0f94c31 | 132 | // Register bits |
hudakz | 0:9c2bb0f94c31 | 133 | #define DATA_RDY_INT 0 |
hudakz | 0:9c2bb0f94c31 | 134 | #define I2C_MST_EN 5 |
hudakz | 0:9c2bb0f94c31 | 135 | |
hudakz | 0:9c2bb0f94c31 | 136 | enum AccelScale |
hudakz | 0:9c2bb0f94c31 | 137 | { |
hudakz | 0:9c2bb0f94c31 | 138 | AFS_2G, |
hudakz | 0:9c2bb0f94c31 | 139 | AFS_4G, |
hudakz | 0:9c2bb0f94c31 | 140 | AFS_8G, |
hudakz | 0:9c2bb0f94c31 | 141 | AFS_16G |
hudakz | 0:9c2bb0f94c31 | 142 | }; |
hudakz | 0:9c2bb0f94c31 | 143 | |
hudakz | 0:9c2bb0f94c31 | 144 | enum GyroScale |
hudakz | 0:9c2bb0f94c31 | 145 | { |
hudakz | 0:9c2bb0f94c31 | 146 | GFS_250DPS, |
hudakz | 0:9c2bb0f94c31 | 147 | GFS_500DPS, |
hudakz | 0:9c2bb0f94c31 | 148 | GFS_1000DPS, |
hudakz | 0:9c2bb0f94c31 | 149 | GFS_2000DPS |
hudakz | 0:9c2bb0f94c31 | 150 | }; |
hudakz | 0:9c2bb0f94c31 | 151 | |
hudakz | 0:9c2bb0f94c31 | 152 | class MPU6050 |
hudakz | 0:9c2bb0f94c31 | 153 | { |
hudakz | 0:9c2bb0f94c31 | 154 | uint8_t _addr; |
hudakz | 0:9c2bb0f94c31 | 155 | AccelScale _accelScale; |
hudakz | 0:9c2bb0f94c31 | 156 | GyroScale _gyroScale; |
hudakz | 0:9c2bb0f94c31 | 157 | I2C _i2c; |
hudakz | 0:9c2bb0f94c31 | 158 | InterruptIn _interruptIn; |
hudakz | 0:9c2bb0f94c31 | 159 | float _accelRes; |
hudakz | 0:9c2bb0f94c31 | 160 | float _gyroRes; |
hudakz | 0:9c2bb0f94c31 | 161 | int16_t _accelAdc[3]; // Stores the 16-bit signed accelerometer sensor output |
hudakz | 0:9c2bb0f94c31 | 162 | int16_t _gyroAdc[3]; // Stores the 16-bit signed gyro sensor output |
hudakz | 0:9c2bb0f94c31 | 163 | float _gyroBias[3] = { 0 }; |
hudakz | 0:9c2bb0f94c31 | 164 | float _accelBias[3] = { 0 }; // Bias corrections for gyro and accelerometer |
hudakz | 0:9c2bb0f94c31 | 165 | int16_t _tempInt; // Stores the real internal chip temperature in degrees Celsius |
hudakz | 0:9c2bb0f94c31 | 166 | float _temp; |
hudakz | 0:9c2bb0f94c31 | 167 | float _selfTest[6]; |
hudakz | 0:9c2bb0f94c31 | 168 | |
hudakz | 0:9c2bb0f94c31 | 169 | // parameters for 6 DoF sensor fusion calculations |
hudakz | 0:9c2bb0f94c31 | 170 | const float _gyroError = M_PI * (40.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 |
hudakz | 0:9c2bb0f94c31 | 171 | const float _gyroDrift = M_PI * (2.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) |
hudakz | 0:9c2bb0f94c31 | 172 | float _beta; // compute beta |
hudakz | 0:9c2bb0f94c31 | 173 | float _zeta; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value |
hudakz | 0:9c2bb0f94c31 | 174 | float _pitch, _yaw, _roll; |
hudakz | 0:9c2bb0f94c31 | 175 | float _q[4] = { 1.0f, 0.0f, 0.0f, 0.0f }; // vector to hold quaternion |
hudakz | 0:9c2bb0f94c31 | 176 | void writeReg(uint8_t reg, uint8_t byte); |
hudakz | 0:9c2bb0f94c31 | 177 | uint8_t readReg(uint8_t reg); |
hudakz | 0:9c2bb0f94c31 | 178 | void readRegBytes(uint8_t reg, uint8_t len, uint8_t* dest); |
hudakz | 0:9c2bb0f94c31 | 179 | int16_t* accelADC(); |
hudakz | 0:9c2bb0f94c31 | 180 | int16_t* gyroADC(); |
hudakz | 0:9c2bb0f94c31 | 181 | int16_t tempADC(); |
hudakz | 0:9c2bb0f94c31 | 182 | public: |
hudakz | 0:9c2bb0f94c31 | 183 | float accelData[3]; // Stores the real accelerometer sensor output |
hudakz | 0:9c2bb0f94c31 | 184 | float& accelX = accelData[0]; // Acceleration liases |
hudakz | 0:9c2bb0f94c31 | 185 | float& accelY = accelData[1]; |
hudakz | 0:9c2bb0f94c31 | 186 | float& accelZ = accelData[2]; |
hudakz | 0:9c2bb0f94c31 | 187 | float gyroData[3]; // Stores the real gyro sensor output |
hudakz | 0:9c2bb0f94c31 | 188 | float& gyroX = gyroData[0]; // Gyro aliases |
hudakz | 0:9c2bb0f94c31 | 189 | float& gyroY = gyroData[1]; |
hudakz | 0:9c2bb0f94c31 | 190 | float& gyroZ = gyroData[2]; |
hudakz | 0:9c2bb0f94c31 | 191 | |
hudakz | 0:9c2bb0f94c31 | 192 | MPU6050 |
hudakz | 0:9c2bb0f94c31 | 193 | ( |
hudakz | 0:9c2bb0f94c31 | 194 | uint8_t addr = 0x68, |
hudakz | 0:9c2bb0f94c31 | 195 | AccelScale accelScale = AFS_2G, |
hudakz | 0:9c2bb0f94c31 | 196 | GyroScale gyroScale = GFS_250DPS, |
hudakz | 0:9c2bb0f94c31 | 197 | PinName sdaPin = I2C_SDA, |
hudakz | 0:9c2bb0f94c31 | 198 | PinName sclPin = I2C_SCL, |
hudakz | 0:9c2bb0f94c31 | 199 | PinName interruptInPin = NC |
hudakz | 0:9c2bb0f94c31 | 200 | ); |
hudakz | 0:9c2bb0f94c31 | 201 | virtual ~MPU6050() { } |
hudakz | 0:9c2bb0f94c31 | 202 | void rise(Callback<void (void)> func); |
hudakz | 0:9c2bb0f94c31 | 203 | template<typename T> |
hudakz | 0:9c2bb0f94c31 | 204 | void rise(T* tptr, void (T:: *mptr) (void)); |
hudakz | 0:9c2bb0f94c31 | 205 | void fall(Callback<void (void)> func); |
hudakz | 0:9c2bb0f94c31 | 206 | template<typename T> |
hudakz | 0:9c2bb0f94c31 | 207 | void fall(T* tptr, void (T:: *mptr) (void)); |
hudakz | 0:9c2bb0f94c31 | 208 | bool init(); |
hudakz | 0:9c2bb0f94c31 | 209 | bool dataReady(); |
hudakz | 0:9c2bb0f94c31 | 210 | float* accel(); |
hudakz | 0:9c2bb0f94c31 | 211 | float* gyro(); |
hudakz | 0:9c2bb0f94c31 | 212 | float temp(); |
hudakz | 0:9c2bb0f94c31 | 213 | |
hudakz | 0:9c2bb0f94c31 | 214 | // Configure the motion detection control for low power accelerometer mode |
hudakz | 0:9c2bb0f94c31 | 215 | void lowPowerAccelOnly(); |
hudakz | 0:9c2bb0f94c31 | 216 | void reset(); |
hudakz | 0:9c2bb0f94c31 | 217 | |
hudakz | 0:9c2bb0f94c31 | 218 | // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average |
hudakz | 0:9c2bb0f94c31 | 219 | // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. |
hudakz | 0:9c2bb0f94c31 | 220 | void calibrate(); |
hudakz | 0:9c2bb0f94c31 | 221 | |
hudakz | 0:9c2bb0f94c31 | 222 | // Accelerometer and gyroscope self test; check calibration wrt factory settings |
hudakz | 0:9c2bb0f94c31 | 223 | bool selfTestOK(); // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass |
hudakz | 0:9c2bb0f94c31 | 224 | void setGain(float beta, float zeta); |
hudakz | 0:9c2bb0f94c31 | 225 | |
hudakz | 0:9c2bb0f94c31 | 226 | // Implementation of Sebastian Madgwick's "...efficient orientation filter for inertial/magnetic sensor arrays" |
hudakz | 0:9c2bb0f94c31 | 227 | // (see http://www.x-io.co.uk/category/open-source/ for examples and more details) |
hudakz | 0:9c2bb0f94c31 | 228 | // which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative |
hudakz | 0:9c2bb0f94c31 | 229 | // device orientation -- which can be converted to yaw, pitch, and roll. |
hudakz | 0:9c2bb0f94c31 | 230 | // Useful for stabilizing quadcopters, etc. |
hudakz | 0:9c2bb0f94c31 | 231 | // The performance of the orientation filter is almost as good as conventional Kalman-based filtering algorithms |
hudakz | 0:9c2bb0f94c31 | 232 | // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz! |
hudakz | 0:9c2bb0f94c31 | 233 | void madgwickFilter(float deltaT); |
hudakz | 0:9c2bb0f94c31 | 234 | |
hudakz | 0:9c2bb0f94c31 | 235 | // To compute yaw, pitch and roll after after aplying the madgwickFilter |
hudakz | 0:9c2bb0f94c31 | 236 | float yaw(); |
hudakz | 0:9c2bb0f94c31 | 237 | float pitch(); |
hudakz | 0:9c2bb0f94c31 | 238 | float roll(); |
hudakz | 0:9c2bb0f94c31 | 239 | }; |
hudakz | 0:9c2bb0f94c31 | 240 | #endif // MPU6050_H |