X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=MadgwickAHRS.h;fp=MadgwickAHRS.h;h=018f34a768f3d8535fd726b738cc9d09ca87ff9f;hp=18e19fa72a04f649f7d314deba3af385b2f6c3fb;hb=2998e2d15b6098be4c272b187af9438d95b140cf;hpb=849b29b998a8cbc10cd1900d3e5dd1a8488b77f6

diff --git a/MadgwickAHRS.h b/MadgwickAHRS.h
index 18e19fa..018f34a 100644
--- a/MadgwickAHRS.h
+++ b/MadgwickAHRS.h
@@ -1,6 +1,25 @@
-//=====================================================================================================
+/*
+ * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
+ * Copyright (c) 2011, SOH Madgwick
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+//=============================================================================
 // 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
@@ -9,25 +28,19 @@
 // 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
+#include "imu.h"
 
-extern volatile float beta;				// algorithm gain
-extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame
+extern volatile float beta;  // algorithm gain
 
-//---------------------------------------------------------------------------------------------------
-// Function declarations
+/* update quaternion structure using the new IMU infos */
+void MadgwickAHRSupdate(const struct imu_info *imu, struct quaternion *quat);
 
-void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
-void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
-void Mad_f32_init(void);
-void MadgwickAHRSupdateIMU_f32(float gx, float gy, float gz, float ax, float ay, float az);
+/* update quaternion structure using the new IMU infos, without using magneto */
+void MadgwickAHRSupdateIMU(const struct imu_info *imu, struct quaternion *quat);
 
 #endif
-//=====================================================================================================
-// End of file
-//=====================================================================================================