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Fix Madgwick Filter for Orientation

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Florian Märkl 2021-01-09 10:42:40 +01:00
commit 96cbd5d9b8
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3 changed files with 50 additions and 24 deletions
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4
lib/include/chiaki/orientation.h
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@ -22,7 +22,7 @@ typedef struct chiaki_orientation_t
CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient);
CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient,
float gx, float gy, float gz, float ax, float ay, float az, float time_step_sec);
float gx, float gy, float gz, float ax, float ay, float az, float beta, float time_step_sec);
/**
* Extension of ChiakiOrientation, also tracking an absolute timestamp and the current gyro/accel state
@ -33,7 +33,7 @@ typedef struct chiaki_orientation_tracker_t
float accel_x, accel_y, accel_z;
ChiakiOrientation orient;
uint32_t timestamp;
bool first_sample;
uint64_t sample_index;
} ChiakiOrientationTracker;
CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker);