AttitudeEstimation

Madgwick AHRS attitude estimation in c++

It basically provides two functions that estimate the attitude (they calculate the quaternion) via Madgwick's AHRS algorithm.

Usage

Clone or download the repository under the Arduino/libraries folder and write #include <MadgwickAHRS.hpp> at the top of the file where you want to use the functions.

Available Functions

MadgwickAHRSupdate

Function signature:

void MadgwickAHRSupdate(float quat[4], float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);

Parameters:

• float quat[4]: length 4 float array where the computed quaternion will be stored.
• float gx, float gy, float gz: Gyrometer readings in rad/s.
• float ax, float ay, float az: Accelerometer readings in g-s.
• float mx, float my, float mz: Magnetometer readings in milliGauss.

MadgwickAHRSupdateIMU

Function signature:

void MadgwickAHRSupdateIMU(float quat[4], float gx, float gy, float gz, float ax, float ay, float az);

Parameters:

• float quat[4]: length 4 float array where the computed quaternion will be stored.
• float gx, float gy, float gz: Gyrometer readings in rad/s.
• float ax, float ay, float az: Accelerometer readings in g-s.