Diff: MadgwickAHRS.cpp

Revision:

3:689b64501b7d

Parent:

2:11ffe983c3f8

--- a/MadgwickAHRS.cpp	Thu Oct 06 17:34:56 2016 +0000
+++ b/MadgwickAHRS.cpp	Thu Oct 06 23:35:07 2016 +0000
@@ -41,7 +41,7 @@
 //---------------------------------------------------------------------------------------------------
 // AHRS algorithm update
 
-void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
+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)
 {
     float recipNorm;
     float s0, s1, s2, s3;
@@ -51,7 +51,7 @@
 
     // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
     if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
-        MadgwickAHRSupdateIMU(gx, gy, gz, ax, ay, az);
+        MadgwickAHRSupdateIMU(gx, gy, gz, ax, ay, az, q0, q1, q2, q3);
         return;
     }
 
@@ -141,7 +141,7 @@
 //---------------------------------------------------------------------------------------------------
 // IMU algorithm update
 
-void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az)
+void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az, float &q0, float &q1, float &q2, float &q3)
 {
     float recipNorm;
     float s0, s1, s2, s3;