Patrick Ciccone / MadgwickAHRS

Madgwick

Dependents:   IMU_ethernet IMU_serial_test IMU_serial

Files at this revision

API Documentation at this revision

Revision 3:689b64501b7d, committed 2016-10-06

Comitter:
rctaduio
Date:
Thu Oct 06 23:35:07 2016 +0000
Parent:
2:11ffe983c3f8
Commit message:
updated madgewick

Changed in this revision

MadgwickAHRS.cpp Show annotated file Show diff for this revision Revisions of this file
MadgwickAHRS.h Show annotated file Show diff for this revision Revisions of this file 
--- 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;

--- a/MadgwickAHRS.h	Thu Oct 06 17:34:56 2016 +0000
+++ b/MadgwickAHRS.h	Thu Oct 06 23:35:07 2016 +0000
@@ -22,8 +22,8 @@
 //---------------------------------------------------------------------------------------------------
 // Function declarations
 
-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);
+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
 //=====================================================================================================