27 lines
766 B
C
27 lines
766 B
C
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#ifndef __IMU_H
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#define __IMU_H
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//#include "communicate.h"
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#include "public_data.h"
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//#include "SENSORS_TYPES.h"
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#include "STABILIZER_TYPES.h"
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//<2F><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD>ٶȵ<D9B6>NEU<45><55><EFBFBD><EFBFBD>ϵ
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void imuTransformVectorBodyToEarth(Axis3f *v);
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//NEU<45><55><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD>ٶȵ<D9B6>NEU<45><55><EFBFBD><EFBFBD>ϵ
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void imuTransformVectorEarthToBody(Axis3f *v);
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void imuMahonyAHRSupdate(float gx, float gy, float gz,float ax, float ay, float az,float mx, float my, float mz,bool useMag,float dt);
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//<2F><>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD>
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void imuUpdate(Axis3f acc, Axis3f gyro, state_t *state , float dt); /*<2A><><EFBFBD><EFBFBD><EFBFBD>ں<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>*/
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void imuUpdateAttitude(const sensorData_t *sensorData, state_t *state, float dt);
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void MadgwickQuaternionUpdate(Axis3f acc, Axis3f gyro, Axis3f mag, attitude_t *attitude , float dt);
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void imuInit(void);
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#endif
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