Janek Mann / MPU9250AHRS-cleaned

Library version of MPU9250AHRS code.

Fork of MPU9250AHRS by Janek Mann

Diff: AHRS.h

Revision:
4:404c35f32ce3
Child:
5:ea541d293095
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AHRS.h	Thu Sep 04 21:19:05 2014 +0000
@@ -0,0 +1,10 @@
+#ifndef __AHRS_H_
+#define __AHRS_H_
+
+#define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
+#define Ki 0.0f
+
+void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat, float *q, float beta);
+void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat, float *q);
+
+#endif // __AHRS_H_
\ No newline at end of file