david fernandez
/
Nucleo_i2c_master_David_4_
Multithread approach to 6DOF Mag Tracker
MadgwickAHRS.h
- Committer:
- darkraxx
- Date:
- 2020-05-21
- Revision:
- 0:9621bbc04b9b
File content as of revision 0:9621bbc04b9b:
//===================================================================================================== // MadgwickAHRS.h //===================================================================================================== // // Implementation of Madgwick's IMU and AHRS algorithms. // 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 MadgwickAHRS_h #define MadgwickAHRS_h //---------------------------------------------------------------------------------------------------- // Variable declaration extern volatile float beta; // algorithm gain extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame //--------------------------------------------------------------------------------------------------- // Function declarations void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz); void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az); #endif //===================================================================================================== // End of file //=====================================================================================================