Aaron Berk / IMUfilter

Inertial measurement unit orientation filter. Ported from Sebastian Madgwick's paper, "An efficient orientation filter for inertial and inertial/magnetic sensor arrays".

Dependents:   IMURover IMUfilter_HelloWorld IMUfilter_RPYExample 12_TCPIP ... more

Files at this revision

API Documentation at this revision

Revision 1:8a920397b510, committed 2010-09-06

Comitter:
aberk
Date:
Mon Sep 06 14:18:33 2010 +0000
Parent:
0:976ab2e4e4bd
Commit message:
Added method to reset the filter.

Changed in this revision

IMUfilter.cpp Show annotated file Show diff for this revision Revisions of this file
IMUfilter.h Show annotated file Show diff for this revision Revisions of this file 
--- a/IMUfilter.cpp	Mon Sep 06 13:54:41 2010 +0000
+++ b/IMUfilter.cpp	Mon Sep 06 14:18:33 2010 +0000
@@ -208,3 +208,21 @@
     return psi;
 
 }
+
+void IMUfilter::reset(void) {
+
+    firstUpdate = 0;
+
+    //Quaternion orientation of earth frame relative to auxiliary frame.
+    AEq_1 = 1;
+    AEq_2 = 0;
+    AEq_3 = 0;
+    AEq_4 = 0;
+
+    //Estimated orientation quaternion elements with initial conditions.
+    SEq_1 = 1;
+    SEq_2 = 0;
+    SEq_3 = 0;
+    SEq_4 = 0;
+
+}

--- a/IMUfilter.h	Mon Sep 06 13:54:41 2010 +0000
+++ b/IMUfilter.h	Mon Sep 06 14:18:33 2010 +0000
@@ -104,6 +104,11 @@
      */
     double getYaw(void);
 
+    /**
+     * Reset the filter.
+     */
+    void reset(void);
+
 private:
 
     int firstUpdate;