Madgwick
Dependents: IMU_ethernet IMU_serial_test IMU_serial
Diff: MadgwickAHRS.h
- Revision:
- 1:189289643d44
- Parent:
- 0:2ed6ce16f06f
- Child:
- 3:689b64501b7d
diff -r 2ed6ce16f06f -r 189289643d44 MadgwickAHRS.h --- a/MadgwickAHRS.h Wed Sep 28 23:58:40 2016 +0000 +++ b/MadgwickAHRS.h Thu Oct 06 17:00:09 2016 +0000 @@ -17,13 +17,13 @@ // Variable declaration extern volatile float beta; // algorithm gain -extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame +//extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame //--------------------------------------------------------------------------------------------------- // Function declarations -extern void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz); -extern void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az); +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); +extern void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az, float q0, float q1, float q2, float q3); #endif //=====================================================================================================