sensfusion9.h

00001 /**
00002  *    ||          ____  _ __  ______
00003  * +------+      / __ )(_) /_/ ____/_________ _____  ___
00004  * | 0xBC |     / __  / / __/ /    / ___/ __ `/_  / / _ \
00005  * +------+    / /_/ / / /_/ /___ / /  / /_/ / / /_/  __/
00006  *  ||  ||    /_____/_/\__/\____//_/   \__,_/ /___/\___/
00007  *
00008  * Crazyflie control firmware
00009  *
00010  * Copyright (C) 2011-2012 Bitcraze AB
00011  *
00012  * This program is free software: you can redistribute it and/or modify
00013  * it under the terms of the GNU General Public License as published by
00014  * the Free Software Foundation, in version 3.
00015  *
00016  * This program is distributed in the hope that it will be useful,
00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00019  * GNU General Public License for more details.
00020  *
00021  * You should have received a copy of the GNU General Public License
00022  * along with this program. If not, see <http://www.gnu.org/licenses/>.
00023  *
00024  */
00025 
00026 #ifndef SENSORFUSION9_H_
00027 #define SENSORFUSION9_H_
00028 #include <stdbool.h>
00029 
00030 
00031 #ifdef __cplusplus
00032 extern "C" {
00033 #endif
00034 
00035 void sensfusion9Init(void);
00036 bool sensfusion9Test(void);
00037 
00038 void sensfusion9UpdateQ(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt);
00039 void sensfusion9GetEulerRPY(float* roll, float* pitch, float* yaw);
00040 void sensfusion9GetQuaternion(float* Q0, float* Q1, float* Q2, float* Q3);
00041 float sensfusion9GetAccZWithoutGravity(const float ax, const float ay, const float az);
00042 float sensfusion9GetInvThrustCompensationForTilt();
00043 
00044 #ifdef __cplusplus
00045 }
00046 #endif
00047 
00048 #endif /* SENSORFUSION9_H_ */