..
MahonyAHRS.h
- Committer:
- zollecy1
- Date:
- 2020-04-29
- Revision:
- 1:0d456c561eab
- Parent:
- 0:da9dac34fd93
File content as of revision 1:0d456c561eab:
//===================================================================================================== // MahonyAHRS.h //===================================================================================================== // // Madgwick's implementation of Mayhony's AHRS algorithm. // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms // // Date Author Notes // 29/09/2011 SOH Madgwick Initial release // 02/10/2011 SOH Madgwick Optimised for reduced CPU load // //===================================================================================================== #ifndef MahonyAHRS_h #define MahonyAHRS_h //---------------------------------------------------------------------------------------------------- class MahonyAHRS{ public: MahonyAHRS(float Freq); //Function declarations void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz); void updateIMU(float gx, float gy, float gz, float ax, float ay, float az); void getEuler(); int16_t getRoll(); int16_t getPitch(); int16_t getYaw(); private: // Variable declaration float sampleFreq; float roll; float pitch; float yaw; }; #endif //===================================================================================================== // End of file //=====================================================================================================