Diff: IMU/IMU_Filter/IMU_Filter.h

Revision:

0:3e7450f1a938

Child:

4:f62337b907e5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU/IMU_Filter/IMU_Filter.h	Tue Aug 27 17:37:06 2013 +0000
@@ -0,0 +1,28 @@
+// by MaEtUgR
+
+#ifndef IMU_FILTER_H
+#define IMU_FILTER_H
+
+#include "mbed.h"
+
+#define Rad2Deg         57.295779513082320876798154814105 // factor between radians and degrees of angle (180/Pi)
+
+class IMU_Filter
+{
+    public:
+        IMU_Filter();
+        void compute(float dt, const float * gyro_data, const float * acc_data, const float * Comp_data);
+        float angle[3];                                 // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
+        
+        // IMU/AHRS
+        float q0, q1, q2, q3;   // quaternion elements representing the estimated orientation
+        float exInt , eyInt , ezInt;  // scaled integral error
+        void IMUupdate(float halfT, float gx, float gy, float gz, float ax, float ay, float az);
+        void AHRSupdate(float halfT, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+    private:
+        float d_Gyro_angle[3];
+        void get_Acc_angle(const float * Acc_data);
+        float Acc_angle[3];
+};
+
+#endif
\ No newline at end of file