29 #ifndef AHRS_MADGWICK_H
30 #define AHRS_MADGWICK_H
struct AhrsMadgwick ahrs_madgwick
void ahrs_madgwick_propagate(struct FloatRates *gyro, float dt)
bool is_aligned
aligned flag
bool reset
flag to request reset/reinit the filter
void ahrs_madgwick_update_accel(struct FloatVect3 *accel)
struct FloatRates rates
Measured gyro rates.
struct FloatVect3 accel
Measured accelerometers.
void ahrs_madgwick_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel)
struct FloatQuat quat
Estimated attitude (quaternion)
void ahrs_madgwick_init(void)
struct FloatRates bias
Gyro bias (from alignment)
Madgwick filter structure.
Paparazzi floating point algebra.
Generic orientation representation and conversions.