Library version of MPU9250AHRS code.
Fork of MPU9250AHRS by
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