#include <madgwickahrs.hh>
Detailed Description
This class implements the MadgwickAHRS filter as described in http://x-io.co.uk/res/doc/madgwick_internal_report.pdf This method uses a gradient descent approach to compute the orientation from an IMU.
The signals input are:
-
m_accelerometerSIN:
![$[a_x, a_y, a_z]^T$](form_70.png)
in 
-
m_gyroscopeSIN:
![$[g_x, g_y, g_z]^T$](form_72.png)
in 
-
m_imu_quatSOUT:
![$[q_0, q_1, q_2, q_3]^T$](form_74.png)
estimated rotation as a quaternion
The internal parameters are:
-
: Gradient step weight (default to 0.01) -
: Sampling Frequency computed from the control period when using init.
The documentation for this class was generated from the following file: