31 lines
1.1 KiB
C
31 lines
1.1 KiB
C
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#ifndef _PDR_AHRS_H_
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#define _PDR_AHRS_H_
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#include "PDRBase.h"
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#define AHRS_SAMPLE_FREQ 100 // ARHS<48>㷨<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
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#define AHRS_KP 0.500
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/**----------------------------------------------------------------------
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* Function : AHRS_Init
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* Description : AHRS<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
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* Date : 2022/09/21 logzhan
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*---------------------------------------------------------------------**/
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void AHRS_Init();
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/**----------------------------------------------------------------------
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* Function : MahonyUpdateAHRS
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* Description : Mahony<EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㷨
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* Date : 2022/09/21 logzhan
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*---------------------------------------------------------------------**/
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void MahonyUpdateAHRS(float gx, float gy, float gz, float ax, float ay, float az,
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float mx, float my, float mz);
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/**----------------------------------------------------------------------
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* Function : UpdateAHRS
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* Description : AHRS<EFBFBD>ںϽ<EFBFBD><EFBFBD><EFBFBD>
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* Date : 2022/09/23 logzhan
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*---------------------------------------------------------------------**/
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int UpdateAHRS(IMU_t* IMU);
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#endif
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