Diff: IMU/IMU_Filter/IMU_Filter.h

Revision:

4:f62337b907e5

Parent:

0:3e7450f1a938

--- a/IMU/IMU_Filter/IMU_Filter.h	Tue Aug 27 22:18:25 2013 +0000
+++ b/IMU/IMU_Filter/IMU_Filter.h	Thu Aug 29 13:52:30 2013 +0000
@@ -1,3 +1,26 @@
+//=====================================================================================================
+// ALGORITHM COPIED FROM http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
+// Algorithm Author: S.O.H. Madgwick
+// Algorithm Date: 25th August 2010
+//=====================================================================================================
+// Description:
+//
+// Quaternion implementation of the 'DCM filter' [Mayhony et al].  Incorporates the magnetic distortion
+// compensation algorithms from my filter [Madgwick] which eliminates the need for a reference
+// direction of flux (bx bz) to be predefined and limits the effect of magnetic distortions to yaw
+// axis only.
+//
+// User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.
+//
+// Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated
+// orientation.  See my report for an overview of the use of quaternions in this application.
+//
+// User must call 'AHRSupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz'),
+// accelerometer ('ax', 'ay', 'ay') and magnetometer ('mx', 'my', 'mz') data.  Gyroscope units are
+// radians/second, accelerometer and magnetometer units are irrelevant as the vector is normalised.
+//
+//=====================================================================================================
+
 // by MaEtUgR
 
 #ifndef IMU_FILTER_H