Mahony's sensor fusion algorithm. Forked from PaulStoffregen.
Converts raw IMU readings to Euler angles using Mahony's sensor fusion algorithm.
- Microcontroller and IMU device
// Include IMU library.
#include <MahonyAHRS.hpp>
...
Mahony mahony(samplePeriod);
void setup() {}
void loop() {
// Read IMU.
// Convert gyrosope data to radians per second.
float yaw = 0.0f, pitch = 0.0f, roll = 0.0f;
if (timeToUpdate()) {
mahony.update(yaw, pitch, roll, // The returned Euler angles
accelX, accelY, accelZ, // 3-axis acceleration
gyroX, gyroY, gyroZ); // 3-axis angular velocity
}
...
}The MIT License (MIT)
Copyright (c) 2016 Vasil Kalchev
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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