初始版本

2026-04-23 14:02:03 +08:00
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+//=====================================================================================================
+// MahonyAHRS.h
+//=====================================================================================================
+//
+// Madgwick's implementation of Mayhony's AHRS algorithm.
+// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+//
+// Date			Author			Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+//=====================================================================================================
+#ifndef MahonyAHRS_h
+#define MahonyAHRS_h
+
+//----------------------------------------------------------------------------------------------------
+// Variable declaration
+
+extern volatile float twoKp;			// 2 * proportional gain (Kp)
+extern volatile float twoKi;			// 2 * integral gain (Ki)
+extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame
+
+//---------------------------------------------------------------------------------------------------
+// Function declarations
+float invSqrt(float x);
+void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
+
+#endif
+//=====================================================================================================
+// End of file
+//=====================================================================================================