madgwick.h File Reference

This file gives the function to create our RPY values. More...

Go to the source code of this file.

Macros
#define	sampleFreqDef   500.0f
#define	betaDef   5.0f

Functions
void	madgwickInit (void)
	Initializes quaternion and other variables. More...
void	updateIMU (float gx, float gy, float gz, float ax, float ay, float az)
	Creates quaternion from gyro and accel values. More...
void	computeAngles (void)
	Computes angles from quaternion. More...

Variables
float	beta
float	q0
float	q1
float	q2
float	q3
float	invSampleFreq
float	roll
float	pitch
float	yaw
char	anglesComputed

Detailed Description

This file gives the function to create our RPY values.

Author

Jeremy Wolfe

Date

03 MAR 2022

Macro Definition Documentation

betaDef

#define betaDef   5.0f

sampleFreqDef

#define sampleFreqDef   500.0f

Function Documentation

computeAngles()

void computeAngles

(

void

)

Computes angles from quaternion.

Returns

Void.

madgwickInit()

void madgwickInit

(

void

)

Initializes quaternion and other variables.

Returns

Void.

updateIMU()

void updateIMU	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az
	)

Creates quaternion from gyro and accel values.

Parameters

float	gx Gyro roll data in deg/s.
float	gy Gyro pitch data in deg/s.
float	gz Gyro yaw data in deg/s.
float	ax Accel x-axis data in m/s^2.
float	ay Accel y-axis data in m/s^2.
float	az Accel z-axis data in m/s^2.

Returns

Void.

Variable Documentation

anglesComputed

char anglesComputed

extern

beta

float beta

extern

invSampleFreq

float invSampleFreq

extern

pitch

float pitch

extern

q0

float q0

extern

q1

float q1

extern

q2

float q2

extern

q3

float q3

extern

roll

float roll

extern

yaw

float yaw

extern