mirror of https://github.com/rusefi/bldc.git
32 lines
1.3 KiB
C
32 lines
1.3 KiB
C
//=====================================================================================================
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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 AHRS_h
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#define AHRS_h
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#include "conf_general.h"
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// Function declarations
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void ahrs_init_attitude_info(ATTITUDE_INFO *att);
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void ahrs_update_all_parameters(ATTITUDE_INFO *att, float confidence_decay, float kp, float ki, float beta);
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void ahrs_update_initial_orientation(float *accelXYZ, float *magXYZ, ATTITUDE_INFO *att);
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void ahrs_update_mahony_imu(float *gyroXYZ, float *accelXYZ, float dt, ATTITUDE_INFO *att);
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void ahrs_update_madgwick_imu(float *gyroXYZ, float *accelXYZ, float dt, ATTITUDE_INFO *att);
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float ahrs_get_roll(ATTITUDE_INFO *att);
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float ahrs_get_pitch(ATTITUDE_INFO *att);
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float ahrs_get_yaw(ATTITUDE_INFO *att);
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void ahrs_get_roll_pitch_yaw(float *rpy, ATTITUDE_INFO *att);
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#endif
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