//=====================================================================================================
// MadgwickAHRS.h
//=====================================================================================================
//
// Implementation of Madgwick's IMU and AHRS algorithms.
// 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 MadgwickAHRS_h
#define MadgwickAHRS_h

//----------------------------------------------------------------------------------------------------
// Variable declaration

//extern volatile float beta;				// algorithm gain
//extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame

typedef struct {
	float q[4]; // Quaternion: [qw, qx, qy, qz]
	float beta; // Filter gain (tunes correction strength)
	float sample_freq; // Sampling frequency in Hz
} MadgwickAHRS_Filter;
//---------------------------------------------------------------------------------------------------
// Function declarations

void MadgwickAHRS_init (MadgwickAHRS_Filter* filter, float beta, float sample_freq);
void MadgwickAHRS_update(MadgwickAHRS_Filter* filter, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void MadgwickAHRS_update_IMU(MadgwickAHRS_Filter* filter, float gx, float gy, float gz, float ax, float ay, float az);

#endif
//=====================================================================================================
// End of file
//=====================================================================================================