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author | Justin Berger <j.david.berger@gmail.com> | 2018-04-03 23:30:47 -0600 |
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committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-03 23:30:47 -0600 |
commit | db41a20170bb7f77959b9901a31582ad2ba93db7 (patch) | |
tree | a01f0d6b95b5446bf3760ec2d8e1812151b48ad6 /include | |
parent | 75460f240c9d003e4ca2e6dda9b2146a74df7ffa (diff) | |
download | libsurvive-db41a20170bb7f77959b9901a31582ad2ba93db7.tar.gz libsurvive-db41a20170bb7f77959b9901a31582ad2ba93db7.tar.bz2 |
Madgwick code integrated
Diffstat (limited to 'include')
-rw-r--r-- | include/libsurvive/survive_imu.h | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h index a37a4df..e7a3d90 100644 --- a/include/libsurvive/survive_imu.h +++ b/include/libsurvive/survive_imu.h @@ -9,14 +9,23 @@ extern "C" { #endif +struct SurviveIMUTracker_p; + typedef struct { FLT updir[3]; - LinmathVec3d current_velocity; // Velocity in world frame + FLT accel_scale_bias; + + LinmathVec3d current_velocity; // Velocity in world frame + LinmathVec3d current_velocity_lp; // Velocity in world frame PoserDataIMU last_data; SurvivePose pose; + LinmathPoint3d pos_lp; SurvivePose lastGT; uint32_t lastGTTime; + + float integralFBx, integralFBy, integralFBz; // integral error terms scaled by Ki + } SurviveIMUTracker; void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, uint32_t timecode, SurvivePose *pose); |