david fernandez / Mbed 2 deprecated Nucleo_i2c_master_David_4_

Multithread approach to 6DOF Mag Tracker

Dependencies:   mbed mbed-rtos

MadgwickAHRS.h@0:9621bbc04b9b, 2020-05-21 (annotated)

Committer:
darkraxx
Date:
Thu May 21 13:10:58 2020 +0000
Revision:
0:9621bbc04b9b
Multithread approach Mag Track

Who changed what in which revision?

UserRevisionLine numberNew contents of line
darkraxx 0:9621bbc04b9b 1 //=====================================================================================================
darkraxx 0:9621bbc04b9b 2 // MadgwickAHRS.h
darkraxx 0:9621bbc04b9b 3 //=====================================================================================================
darkraxx 0:9621bbc04b9b 4 //
darkraxx 0:9621bbc04b9b 5 // Implementation of Madgwick's IMU and AHRS algorithms.
darkraxx 0:9621bbc04b9b 6 // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
darkraxx 0:9621bbc04b9b 7 //
darkraxx 0:9621bbc04b9b 8 // Date Author Notes
darkraxx 0:9621bbc04b9b 9 // 29/09/2011 SOH Madgwick Initial release
darkraxx 0:9621bbc04b9b 10 // 02/10/2011 SOH Madgwick Optimised for reduced CPU load
darkraxx 0:9621bbc04b9b 11 //
darkraxx 0:9621bbc04b9b 12 //=====================================================================================================
darkraxx 0:9621bbc04b9b 13 #ifndef MadgwickAHRS_h
darkraxx 0:9621bbc04b9b 14 #define MadgwickAHRS_h
darkraxx 0:9621bbc04b9b 15
darkraxx 0:9621bbc04b9b 16 //----------------------------------------------------------------------------------------------------
darkraxx 0:9621bbc04b9b 17 // Variable declaration
darkraxx 0:9621bbc04b9b 18
darkraxx 0:9621bbc04b9b 19 extern volatile float beta; // algorithm gain
darkraxx 0:9621bbc04b9b 20 extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
darkraxx 0:9621bbc04b9b 21
darkraxx 0:9621bbc04b9b 22 //---------------------------------------------------------------------------------------------------
darkraxx 0:9621bbc04b9b 23 // Function declarations
darkraxx 0:9621bbc04b9b 24
darkraxx 0:9621bbc04b9b 25 void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
darkraxx 0:9621bbc04b9b 26 void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
darkraxx 0:9621bbc04b9b 27
darkraxx 0:9621bbc04b9b 28 #endif
darkraxx 0:9621bbc04b9b 29 //=====================================================================================================
darkraxx 0:9621bbc04b9b 30 // End of file
darkraxx 0:9621bbc04b9b 31 //=====================================================================================================
darkraxx 0:9621bbc04b9b 32