NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: IMU_Filter/IMU_Filter.h
- Revision:
- 34:3aa1cbcde59d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU_Filter/IMU_Filter.h Mon Jun 10 13:22:46 2013 +0000
@@ -0,0 +1,27 @@
+// by MaEtUgR
+
+#ifndef IMU_FILTER_H
+#define IMU_FILTER_H
+
+#include "mbed.h"
+
+#define Rad2Deg 57.295779513082320876798154814105 // factor between radians and degrees of angle (180/Pi)
+
+class IMU_Filter
+{
+ public:
+ IMU_Filter();
+ void compute(float dt, const float * gyro_data, const float * acc_data);
+ float angle[3]; // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
+
+ // MARG
+ float q0, q1, q2, q3; // quaternion elements representing the estimated orientation
+ float exInt , eyInt , ezInt; // scaled integral error
+ void IMUupdate(float halfT, float gx, float gy, float gz, float ax, float ay, float az);
+ private:
+ float d_Gyro_angle[3];
+ void get_Acc_angle(const float * Acc_data);
+ float Acc_angle[3];
+};
+
+#endif
\ No newline at end of file
Matthias Grob
