Library version of MPU9250AHRS code.
Fork of MPU9250AHRS by
AHRS.h
- Committer:
- janekm
- Date:
- 2014-09-04
- Revision:
- 4:404c35f32ce3
- Child:
- 5:ea541d293095
File content as of revision 4:404c35f32ce3:
#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_