Madgwick
Dependents: IMU_ethernet IMU_serial_test IMU_serial
MadgwickAHRS.h@1:189289643d44, 2016-10-06 (annotated)
- Committer:
- rctaduio
- Date:
- Thu Oct 06 17:00:09 2016 +0000
- Revision:
- 1:189289643d44
- Parent:
- 0:2ed6ce16f06f
- Child:
- 3:689b64501b7d
stuff
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rctaduio | 0:2ed6ce16f06f | 1 | //===================================================================================================== |
rctaduio | 0:2ed6ce16f06f | 2 | // MadgwickAHRS.h |
rctaduio | 0:2ed6ce16f06f | 3 | //===================================================================================================== |
rctaduio | 0:2ed6ce16f06f | 4 | // |
rctaduio | 0:2ed6ce16f06f | 5 | // Implementation of Madgwick's IMU and AHRS algorithms. |
rctaduio | 0:2ed6ce16f06f | 6 | // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms |
rctaduio | 0:2ed6ce16f06f | 7 | // |
rctaduio | 0:2ed6ce16f06f | 8 | // Date Author Notes |
rctaduio | 0:2ed6ce16f06f | 9 | // 29/09/2011 SOH Madgwick Initial release |
rctaduio | 0:2ed6ce16f06f | 10 | // 02/10/2011 SOH Madgwick Optimised for reduced CPU load |
rctaduio | 0:2ed6ce16f06f | 11 | // |
rctaduio | 0:2ed6ce16f06f | 12 | //===================================================================================================== |
rctaduio | 0:2ed6ce16f06f | 13 | #ifndef MadgwickAHRS_h |
rctaduio | 0:2ed6ce16f06f | 14 | #define MadgwickAHRS_h |
rctaduio | 0:2ed6ce16f06f | 15 | |
rctaduio | 0:2ed6ce16f06f | 16 | //---------------------------------------------------------------------------------------------------- |
rctaduio | 0:2ed6ce16f06f | 17 | // Variable declaration |
rctaduio | 0:2ed6ce16f06f | 18 | |
rctaduio | 0:2ed6ce16f06f | 19 | extern volatile float beta; // algorithm gain |
rctaduio | 1:189289643d44 | 20 | //extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame |
rctaduio | 0:2ed6ce16f06f | 21 | |
rctaduio | 0:2ed6ce16f06f | 22 | //--------------------------------------------------------------------------------------------------- |
rctaduio | 0:2ed6ce16f06f | 23 | // Function declarations |
rctaduio | 0:2ed6ce16f06f | 24 | |
rctaduio | 1:189289643d44 | 25 | extern void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float q0, float q1, float q2, float q3); |
rctaduio | 1:189289643d44 | 26 | extern void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az, float q0, float q1, float q2, float q3); |
rctaduio | 0:2ed6ce16f06f | 27 | |
rctaduio | 0:2ed6ce16f06f | 28 | #endif |
rctaduio | 0:2ed6ce16f06f | 29 | //===================================================================================================== |
rctaduio | 0:2ed6ce16f06f | 30 | // End of file |
rctaduio | 0:2ed6ce16f06f | 31 | //===================================================================================================== |