16 lines
603 B
C
16 lines
603 B
C
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#ifndef MADGWICK_FILTER_H
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#define MADGWICK_FILTER_H
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typedef struct {
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float q[4]; // Quaternion: [qw, qx, qy, qz]
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float beta; // Filter gain (tunes correction strength)
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float sampleFreq; // Sampling frequency in Hz
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} MadgwickFilter;
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void MadgwickFilter_Init(MadgwickFilter* filter, float sampleFreq, float beta);
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void MadgwickFilter_Update(MadgwickFilter* filter, float gx, float gy, float gz,
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float ax, float ay, float az);
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void MadgwickFilter_GetEulerAngles(MadgwickFilter* filter, float* roll, float* pitch, float* yaw);
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#endif /* MADGWICK_FILTER_H */
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