2026-07-20 17:04:48 +08:00
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#ifndef _IMU_H_
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#define _IMU_H_
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#include <math.h>
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#define PI 3.14159265358979323846f
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2026-07-20 17:04:48 +08:00
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#define RAD_TO_DEG 57.2957795 // 弧度到度的转换系数
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#define DEG_TO_RAD 0.0174533 // 度到弧度的转换系数
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2026-04-23 14:02:03 +08:00
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2026-07-20 17:04:48 +08:00
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// 定义欧拉角结构体
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typedef struct {
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2026-07-20 17:04:48 +08:00
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volatile float roll, pitch, yaw;//弧度
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}Rad_T, *RadDp;
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typedef struct {
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volatile float roll, pitch, yaw;//角度
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}Deg_T, *DegDp;
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#define Imu_AccFilterSize 10
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#define Imu_MagFilterSize 20
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#define Imu_GyroFilterSize 10
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void IMU_Update(float *gy,float *acc, float *mag, RadDp Rad, DegDp Deg);
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#endif
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