Masahiro Furukawa / Mbed 2 deprecated MPU-9250-Ch2

MPU-9250 with Kalman Filter

Dependencies:   ADXL362-helloworld MPU9250_SPI mbed

Fork of ADXL362-helloworld by Analog Devices

AHRS/MadgwickAHRS.h@10:f2ef74678956, 2017-04-26 (annotated)

Committer:
mfurukawa
Date:
Wed Apr 26 07:52:10 2017 +0000
Revision:
10:f2ef74678956
public revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfurukawa 10:f2ef74678956 1 //=====================================================================================================
mfurukawa 10:f2ef74678956 2 // MadgwickAHRS.h
mfurukawa 10:f2ef74678956 3 //=====================================================================================================
mfurukawa 10:f2ef74678956 4 //
mfurukawa 10:f2ef74678956 5 // Implementation of Madgwick's IMU and AHRS algorithms.
mfurukawa 10:f2ef74678956 6 // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
mfurukawa 10:f2ef74678956 7 //
mfurukawa 10:f2ef74678956 8 // Date Author Notes
mfurukawa 10:f2ef74678956 9 // 29/09/2011 SOH Madgwick Initial release
mfurukawa 10:f2ef74678956 10 // 02/10/2011 SOH Madgwick Optimised for reduced CPU load
mfurukawa 10:f2ef74678956 11 //
mfurukawa 10:f2ef74678956 12 //=====================================================================================================
mfurukawa 10:f2ef74678956 13 #ifndef MadgwickAHRS_h
mfurukawa 10:f2ef74678956 14 #define MadgwickAHRS_h
mfurukawa 10:f2ef74678956 15
mfurukawa 10:f2ef74678956 16 //----------------------------------------------------------------------------------------------------
mfurukawa 10:f2ef74678956 17 // Variable declaration
mfurukawa 10:f2ef74678956 18
mfurukawa 10:f2ef74678956 19 extern volatile float beta; // algorithm gain
mfurukawa 10:f2ef74678956 20 extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
mfurukawa 10:f2ef74678956 21
mfurukawa 10:f2ef74678956 22 //---------------------------------------------------------------------------------------------------
mfurukawa 10:f2ef74678956 23 // Function declarations
mfurukawa 10:f2ef74678956 24
mfurukawa 10:f2ef74678956 25 void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
mfurukawa 10:f2ef74678956 26 void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
mfurukawa 10:f2ef74678956 27
mfurukawa 10:f2ef74678956 28 #endif
mfurukawa 10:f2ef74678956 29 //=====================================================================================================
mfurukawa 10:f2ef74678956 30 // End of file
mfurukawa 10:f2ef74678956 31 //=====================================================================================================