25 #ifndef IMU_FILTER_MADWICK_IMU_FILTER_H 26 #define IMU_FILTER_MADWICK_IMU_FILTER_H 75 double recipNorm = 1 /
sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
95 float ax,
float ay,
float az,
96 float mx,
float my,
float mz,
100 float ax,
float ay,
float az,
103 void getGravity(
float& rx,
float& ry,
float& rz,
104 float gravity = 9.80665);
107 #endif // IMU_FILTER_IMU_MADWICK_FILTER_H
void setOrientation(double q0, double q1, double q2, double q3)
void madgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt)
void getGravity(float &rx, float &ry, float &rz, float gravity=9.80665)
void getOrientation(double &q0, double &q1, double &q2, double &q3)
void setAlgorithmGain(double gain)
void madgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az, float dt)
void setWorldFrame(WorldFrame::WorldFrame frame)
INLINE Rall1d< T, V, S > sqrt(const Rall1d< T, V, S > &arg)
void setDriftBiasGain(double zeta)
WorldFrame::WorldFrame world_frame_