mirror of https://github.com/arendst/Tasmota.git
34 lines
1.6 KiB
C
34 lines
1.6 KiB
C
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//=====================================================================================================
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// MahonyAHRS.h
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//=====================================================================================================
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//
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// Madgwick's implementation of Mayhony's AHRS algorithm.
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// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
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//
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// Date Author Notes
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// 29/09/2011 SOH Madgwick Initial release
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// 02/10/2011 SOH Madgwick Optimised for reduced CPU load
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//
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//=====================================================================================================
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#ifndef MahonyAHRS_h
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#define MahonyAHRS_h
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//----------------------------------------------------------------------------------------------------
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// Variable declaration
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extern volatile float twoKp; // 2 * proportional gain (Kp)
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extern volatile float twoKi; // 2 * integral gain (Ki)
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//volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame
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//---------------------------------------------------------------------------------------------------
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// Function declarations
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void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
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//void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
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void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az,float *pitch,float *roll,float *yaw);
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float invSqrt(float x);
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#endif
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//=====================================================================================================
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// End of file
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//=====================================================================================================
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